Manufacture of a 4-Degree-of-Freedom Robot to Support an IRB 120 Robot

Manufacture of a 4-Degree-of-Freedom Robot to Support an IRB 120 Robot

In this work, we present the construction and control of a four-degrees-of-freedom (DOF) manipulator aimed at addressing one of the key challenges faced by the Academy-Industry Cooperation Center (CCAI): the need for mechatronic equipment to support and facilitate the development of advanced robotic...

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Bibliographic Details
Main Authors: Ricardo Balcazar, José de Jesús Rubio, Mario Alberto Hernandez, Jaime Pacheco, Adrian-Josue Guel-Cortez, Genaro Ochoa, Enrique Garcia, Alejandro Zacarías, Gabriela Saavedra González
Format: Article
Language:English
Published: MDPI AG 2024-11-01
Series:Actuators
Subjects:
robotic manipulator
direct kinematics
dynamics by Euler–Lagrange
PI-V control
PD tanh control
Lyapunov
Online Access:https://www.mdpi.com/2076-0825/13/12/483
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