Control no lineal de un brazo manipulador para la reparación de tuberías hidrosanitarias (Non linear control of a robotic arm for pipeline reparation)

Jorge Orozco (, Yesid Bello (, Diego Patino (, Julián Colorado (, Fredy Ruiz (, Leonardo Solaque (

1Pontificia Universidad Javeriana
2Universidad Militar Nueva Granada

This paper appears in: Revista IEEE América Latina

Publication Date: Dec. 2016
Volume: 14,   Issue: 12 
ISSN: 1548-0992

This article presents a non-linear control system for a robotic arm that will be used for pipeline reparation. It starts with the mechanical description of the arm, its parameters and how the arm will repair the pipelines. This arm needs a control law that is non-linear. The proposed control strategy is obtained through the interpolation of classic feedback quadratic controllers that are computed for each operation point in a trajectory. This design is based on a numerical model that avoids computing an analytical model which is very useful for this kind of application. The technique is validated through simulations.

Index Terms:
LPV control, LQR control, pipeline robot, CAD systems.   

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