Control por impedancia

=C q+G+J (q)
T
F
F=k x+b x
x=xbarreraxposicion
0 . 1 6 0 . 1 8 0 . 2 0 . 2 2 0 . 2 4 0 . 2 6
0 . 2
0 . 2 2
0 . 2 4
0 . 2 6
0 . 2 8
0 . 3
0 . 3 2
X ( m )
Y
(
m
)
T r a y e c t o r i a
0 5 1 0 1 5 2 0 2 5
- 0 . 8
- 0 . 6
- 0 . 4
- 0 . 2
0
0 . 2
0 . 4
0 . 6
0 . 8
1
1 . 2
T i e m p o ( t )
V
e
l
o
c
i
d
a
d
(
r
a
d
/
s
)
V e l o c i d a d


\ d o t { q } _ 1
\ d o t { q } _ 2
0 5 1 0 1 5 2 0 2 5
0 . 1 6
0 . 1 8
0 . 2
0 . 2 2
0 . 2 4
0 . 2 6
0 . 2 8
0 . 3
0 . 3 2
T i e m p o ( t )
D
e
s
p
l
a
z
a
m
i
e
n
t
o
(
m
)
T r a y e c t o r i a


x
y
0 5 1 0 1 5 2 0 2 5
- 1 6
- 1 4
- 1 2
- 1 0
- 8
- 6
- 4
- 2
0
2
T i e m p o ( t )
V
o
l
t
a
j
e
(
V
)
V o l t a j e


V 1
V 2
0 5 1 0 1 5 2 0 2 5
- 1 . 2
- 1
- 0 . 8
- 0 . 6
- 0 . 4
- 0 . 2
0
0 . 2
T i e m p o ( t )
T
o
r
q
u
e
(
N
m
)
T o r q u e s

2
0 5 1 0 1 5 2 0 2 5
8 0
1 0 0
1 2 0
1 4 0
1 6 0
1 8 0
2 0 0
2 2 0
T i e m p o ( t )
A
n
g
u
l
o
s
(

)
D e s p l a z a m i e n t o a n g u l a r


q 1
q 2
0 5 1 0 1 5 2 0 2 5
0
1
2
3
4
5
6
T i e m p o ( t )
F
u
e
r
z
a
(
N
)
F u e r z a


F u e r z a s e n s o r
F u e r z a C a l c u l a d a p o r i m p e d a n c i a