Modelado, simulación y control remoto de robot de 2GL en redes 5G

Abstract

This article presents the modeling and control of a robot with two degrees of freedom using different methodologies such as the Proportional-Integral-Derivative (PID) regulator and Feedback linearization using Lagrangian equations. The objective of this study is the analysis of the behavior of the model and the different control techniques in real time. To do this, delays have been introduced that simulate the time that information frames take to reach their destination. This has allowed us to check the robustness of the communication paths and see if position prediction improves the quality of the control. The robot has been modeled with Matlab/Simulink. With the Simscape extension, its physical and dynamic characteristics were first defined. Subsequently, tuning techniques were used to optimize the performance of the PIDs in terms of stability and trajectory tracking. Later, the mathematical model of the robot was obtained using Lagrange's laws with the aim of building a multi-joint controller. Finally, the model was exposed to a realistic control environment and a linear position predictor was implemented.