Sincronización Maestro-Esclavo de Robots Manipuladores Actuados por Motores de Inducción (Master-Slave Synchronization of Robot Manipulators Driven by Induction Motors)

Felipe Jesus Torres (felipetorres@cenidet.edu.mx)1, Gerardo Vicente Guerrero (gerardog@cenidet.edu.mx)1, Carlos Daniel García (cgarcia@cenidet.edu.mx)1, José Francisco Gómez (jgomez@cenidet.edu.mx)1, Manuel Adam (adam@cenidet.edu.mx)1, Ricardo Fabricio Escobar (esjiri@cenidet.edu.mx)1


1Tecnológico Nacional de México/Centro Nacional de Investigación y Desarrollo Tecnológico

This paper appears in: Revista IEEE América Latina

Publication Date: Sept. 2016
Volume: 14,   Issue: 9 
ISSN: 1548-0992


Abstract:
This paper presents an approach of master-slave synchronization of robot manipulators driven by induction motors supposing that the full state is available. Considering the input torque of each joint of the robot manipulators as the reference torque for induction motor, a feedback control law is used to synchronize position while track a desired trajectory. Based on Lyapunov analysis is shown that the controller yields semiglobal exponential convergence of the synchronization closed-loop errors. Simulations are provided to demonstrate the effectiveness of the proposed approach.

Index Terms:
synchronization, master slave, induction motor, robot manipulator   


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