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Resumen

 

PROGRESS IN THE DESIGN OF A PLATFORM FOR THE REMOTE CONTROL OF A PARALLEL STRUCTURE THROUGH LAN

AVANCES EN EL DISEÑO DE UNA PLATAFORMA PARA EL CONTROL REMOTO DE UNA ESTRUCTURA PARALELA VÍA LAN
MSc. (c) Edison Martínez.
PhD. César A. Peña Cortéz.
Ing. (c) Duber Contreras.
Ing. (c) Juan Morgado.


Abstract: An experimental platform allows studying the functioning of a complex system, which would otherwise be difficult to access, much less manipulate. This paper shows the development of a platform for the study of remote control of a parallel structure with three degrees of freedom, comprising low-level control of actuators, modes of operation, the communication with the remote system, and a description of the structure of high-level control such as teleoperation. The platform allows the development of control and teleoperation practices from simple to complex, considering the communication delay and its influence on the remote control.


Keywords: Control, teleoperation, experimental platform, parallel structure.

Resumen: Una Plataforma experimental permite estudiar de forma controlada el funcionamiento de un sistema complejo, al que de otra manera seria difícil acceder, y mucho menos manipular. Este artículo muestra el desarrollo de una plataforma para el estudio del control remoto de una estructura paralela de tres grados de libertad, abarcando el control a bajo nivel de los accionamientos, los modos de operación y la comunicación con el sistema remoto, así como la descripción de la estructura del control a alto nivel por ejemplo teleoperación. La plataforma permitirá el desarrollo de prácticas de control y teleoperación desde las básicas, hasta complejas, en las que se pueda tener en cuenta el retardo de la comunicación y su influencia en el control remoto.

Palabras clave: Control, teleoperación, plataforma experimental, estructura paralela.