Información del artículo
Resumen
El impacto es la parte más peligrosa de una tarea con contacto. Su duración es muy breve por lo que es necesario un control extremadamente rápido. Durante el impacto, la energía cinética del robot adquirida en movimiento libre se transforma en potencial elástica y viceversa. Este artículo propone la conmutación de los parámetros de la impedancia mecánica de forma a aumentar la disipación de la energía del sistema y, de esta forma, suavizar el impacto.
Palabras clave:
Impacto
impedancia
brazos robot
control de robots
energía
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