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posicin x [mm]

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220

180
160
140

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240
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180
160
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trayectoria real
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Seguimiento de trayectoria en el espacio de trabajo de un robot
Robot SCARA 3GDL
trayectoria del robot
trayectoria deseada

20

30

z [mm]

40

50

60

70

80
200
350

150
300
100

250
200

50
150
y [mm]

100
x [mm]

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active
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position [m]

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0

1000
1500
0

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time [s]

wheel position

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force [N]

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L[A f (t)] = A L[f (t)]

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L[f1(t) + f2(t)] = L[f1(t)] + L[f2(t)]

;     
     
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f (t) = c, t, eat

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=


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+

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s
t=0

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1 s0
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+ e
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)

eax dx =

eax
a

+c



          


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0

est t dt =


lm

+ 0

est t dt


t=
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2 e (st + 1)
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lm
+
s
t=0


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1
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s


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 ax
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&  dv = ea +   )    =+
ax

 ax
ax
e
e
xeax eax
ax
xe dx = x

dx =
2 +c
a
a
a
a
ax
e 
1
=
x
+c
a
a



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0

est eat dt =


lm

+ 0
t=
(as)t

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1
e
+ a s
t=0


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1
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e
e(as)0
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1
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b   
 b
a

t=b

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t=a

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a

u(t)v(t)dt

.  (         


    v(t) u(t)



 

 

            

d(uv) = udv + vdu  udv


udv

= d(uv) vdu
= uv vdu



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t 0  (    s   (  s0 
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f (t) = f (0) + sF (s)
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t = 0          
  
          
    
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dt

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f (t) dt
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dt


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t=
d
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+
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s

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=

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est

= f (0) + sF (s)

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+

es 0

 


   


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d d
d2
f (t) =
f (t)
2
dt
dt dt

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2

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dt dt

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dt

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f (0)
dt

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f (0)
dt
= s2 F (s) sf (0) f  (0)
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t = 0
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 f (t) 
 
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dtn

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f (t) = cos at, sen at

1     1       f (t) =


cos at 
s
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2
s +a
1     1       f (t) =
sen at 
a
L[sen at] = 2
)=*
s + a2



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F (s)     
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1            
1    L1       F (s)
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1
L1[F (s)] = f (t) =
2j

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cj

para t > 0

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a

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s
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s
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s+a


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1
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(s2 + 2)


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1
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A55C

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tn1
(n = 1, 2, 3, . . .)A5>C
(n 1)!

= eat

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= teat

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= eat sen t

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A,-C



-%  ./  0
  


          
  
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1
s( s + 1)
1
s2( s + 1)

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s2( s + s + 1)

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B
+
s
( s + 1)

A,5C

C
A
B
+ 2+
s
s
( s + 1)

A,,C

A
Bs + C
+
s
( s + s + 1)

         
       

A,>C

A B



+ &       






1           !
            
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m
x + kx = 0
)?7*
     
  

2     

 

 

 

k


   ( 
        %
xh   

  
 
    
        x = Cest
  C  s          :!
         !
    
d2
m 2 Cest + kCest = 0,
dt
Cest(ms2 + k) = 0,
ms2 + k = 0.

1 0   


     

  
         )?7*
1             
   
k
s1,2 = ( )1/2 = i n
)?D*
m
  i = (1)1/2  n = ( mk )1/2    !
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x(t) = C1ei nt + C2ei nt
)?G*
  C1  C2      ;    !
 
ei t = cos t i sen t,



  )?G*       


)?<*
  A1  A2     (    
        x0  x 0 t = 0
x(t) = A1 cos nt + A2 sen nt,

x(0) = A1 = x0,
x(0)

= n A2 = x 0.

)?>*
/    A1 = x0  A2 = x 0/n    
  )?<*          
 )?>*             !
   
x 0
x(t) = x0 cos nt +
sen nt,
)?=*
n
1  )?=*  
$        
x(t) = xm sen(nt ),
)@H*
 

x 0
xm =
x20 + (
) Amplitud [m, in, f t]
x0n
x 0
= tan1 (
) Angulo de F ase
x0 n
2
n =
P eriodo [s]
n
1
n
f =
=
F recuencia [Hz]
n
2

A>5C
A>,C
A>>C
A>@C


B   
       
       )?7*      !
   1            
    1  
m
x + kx = 0,
L{m
x} + L{kx} = 0,
m[s2X(s) sx0 x 0] + kX(s) = 0,

(ms2 + k)X(s) = msx0 + mx 0,


msx0 + mx 0
X(s) =
,
2
ms + k
x 0
sx0
+
.
X(s) =
k
k
2
2
s +m
s +m

           1  


  
        
   
L1{X(s)} = L1{

sx0

1
}
+
L
{
k

x 0

},

k
s2 + m
s2 + m
s
x 0 1
n
1
= x0 L { 2
}+
L { 2
},
2
2
s + n
n
s + n
x 0
x(t) = x0 cos nt +
sen nt.
n

)@D*

  4 ?7      %   !


          )x, x * 
  
  $    $ $!
 3  !E     %"     
 0,001 ms 1          
     
   +#18
     x(0) = 0,1 [m]     
m = 2,5 [kg]  k = 300 [ N
m ]
Posicion de la masa [x]

Velocidad de la masa [dx]


2
velocidad [m/s]

posicion [m]

0.1
0.05
0
0.05
0.1

1
2
tiempo [s]
Plano de fase

1
0
1
2

1
2
tiempo [s]

[dx]

1
0
1
2
0.1

0.05

0
[x]

0.05

0.1

%  ,@           


x(t)+
  x(t)

&    




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 / 

          
           4 ?
      F (t) = F0 cos nt 
      )5*   
m
x + kx = F0 cos t.
)@G*

1    
        
(  
         
    $ xh   
   xp 
 (      !
         
1      %     
  
xh(t) = C1 cos nt + C2 sen nt,
)@<*
  n = (k/m)1/2       
     1     F (t)   !
      
 
xp(t)   
$ !
            
 (      
xp(t) = X cos t,
)@>*


  X      (    
  xp(t) :    )@>*
  )@G*       X 
 
F0
X=
.
)@=*
2
k m
1        )@G*     
x(t) = C1 cos nt + C2 sen nt +

F0
cos t.
2
k m

)7H*

  4 ?D      %   


 $       
 
        C1  C2  
       x(t = 0) = x0  x(t
= 0) =
x 0   
F0
x 0
C1 = x0
,
C
=
,
)75*
2
2
k m

         (  



x
0
F0
x(t) = x0
cos nt +
sen nt
2
k m
n


F0
cos nt
)7?*
+
2
k m



%  ,D       3  +


  &  


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         4!


 ?G 1        
      x      !
    F = cx   c    
       %   !
           
(          
       

%  ,. #     

.    ,  1    !

         


    
      3 4


F = ma,

cx kx = m
x,
m
x + cx + kx = 0.

)7@*



2
  
       
             
      
x(t) = Cest,
)77*
  C  s            !
    )77*    
      )  )7@**   
     
ms2 + cs + k = 0,

         

c2 4mk
s1,2 =
2m



c
k
c 2
=
.

2m
2m
m
c

)7D*
)7G*

             )7@*


x1(t) = C1es1t

x2(t) = C2es2t


1        )7@*    


 
        x1(t) 
x2(t)C
x(t) = C1es1t + C2es2t,
= C1


c )2 k } t
( 2m
m

c ( c )2 k } t
{ 2m
2m
m

c +
{ 2m
e

+C2e

)7<*

  C1  C2      
    !
                 
/         % xh
 (            
  

$     
  
  '

 
       !
 cc   %          
    c         
  )7G*   C

c 2
k
c

= 0,
2m
m

cc = 2m

k
= 2 km = 2m n .
m

A@HC


  (        


      %    !
           
        C
c
= .
)7=*
cc
;     )7>*  )7=*   

c
c cc
=
= n,

)DH*
2m
cc 2m
               

 

s1,2 = ( 2 1 ) n.
)D5*
    )7<*       
{+

x(t) = C1e

2 1}nt

+ C2e

2 1}nt

)D?*

1          s1  s2     !
            )D?*
            5

= 0 -       
  

 
 
 
 
  (    
    5

= 0         C


$  & 


 
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 c/2m <

cc

k/m* 1  (    




x(t) = en t{x0 cos 1 2 nt



x 0 + nx0
+ 
sen 1 2 nt})D@*
1 2 n

$ ( &  


  

 


) = 1  c = cc  c/2m =
(     

k/m*

1 

x(t) = [x0 + (x 0 + nx0) t]en t

)D7*

$ + & 


  

  ) > 1 
c > cc

 c/2m >

k/m*

         )5@*  
     
x(t) = C1e{+

2 1}nt

2
+ C2e{ 1}nt

)DD*

        x(t = 0) = x0  x(t


=
0) = x 0       C1  C2    

  
C1

C2

2 1 + x 0 )

,
2
2n 1

x0n ( 2 1 x 0)

2n 2 1
x0n ( +

AD.C

1 4 ?<          !


       

%  ,7           




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 / 
   :     

      F (t) = F0 cos t   


   
mx + cx + kx = F0 cos t
)D<*

1    
        
(  
         
    $ xh   
   xp 
 (      !
         
1      %     !
      
     
            
     1    
 

  )D<*   
$     
  (    
xp(t) = X cos(t )
)D>*
  X             !
             !
       


:    )D>*   )D<*  


X[(k m 2 ) cos(t ) c sen(t )] = F0 cos t

AD6C

;         $ 


cos(t ) = cos t cos + sen t sen ,
sen(t ) = sen t cos cos t sen .

:        $ 


  )D=*      %    cos t
 sen t 
        !
   

X[(k m 2) cos + c sen ] = F0,
X[(k m 2) sen c cos ] = 0

)GH*

       
      !
  
  X      )D>*
X =

F0

2)2 + c2 2]1/2
[(k m


c
= tan1
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