Control cinemático de un robot paralelo comandado por cables espacial
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In this work the research assistance developed for the kinematic control of a parallel robot commanded by space-type cables, developed in the seedbed of mechanical design, MEC-AUTRONIC, belonging to the research group D + TEC of the University of Ibagué, is described. Said robot of 3 GDL consists of a mobile platform, better known as end effector, suspension and joined by 8 cables to a fixed platform (frame). In the first stage of the project, it is a mathematical model of the robot’s kinematics in order to control it and thus obtain its working space. For the generation of trajectories simulations are carried out using Matlab as a computational tool, the applications implemented in the real prototype in laboratory tests. Finally, the positioning errors of the final effector were obtained before said trajectories.