<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>2007-0705</journal-id>
<journal-title><![CDATA[Nova scientia]]></journal-title>
<abbrev-journal-title><![CDATA[Nova scientia]]></abbrev-journal-title>
<issn>2007-0705</issn>
<publisher>
<publisher-name><![CDATA[Universidad de La Salle Bajío A. C., Coordinación de Investigación]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S2007-07052022000100109</article-id>
<article-id pub-id-type="doi">10.21640/ns.v14i28.2723</article-id>
<title-group>
<article-title xml:lang="en"><![CDATA[Super-Twisting Control for trajectory tracking of a four-degree of freedom anthropomorphic robot manipulator]]></article-title>
<article-title xml:lang="es"><![CDATA[Control Super-Twisting para seguimiento de trayectoria en un robot manipulador antropomórfico de cuatro grados de libertad]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Ibarra]]></surname>
<given-names><![CDATA[Eddy Gabriel]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Lozano Hernández]]></surname>
<given-names><![CDATA[Yair]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Enríquez]]></surname>
<given-names><![CDATA[Manuel Alejandro]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Galván Guerra]]></surname>
<given-names><![CDATA[Rosalba]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Maya]]></surname>
<given-names><![CDATA[Mario César]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Instituto Politécnico Nacional Escuela Superior de Ingeniería Mecánica y Eléctrica Unidad Zacatenco ]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>Mexico</country>
</aff>
<aff id="Af2">
<institution><![CDATA[,Instituto Politécnico Nacional Unidad Profesional Interdisciplinaria de Ingeniería ]]></institution>
<addr-line><![CDATA[ Hidalgo]]></addr-line>
<country>Mexico</country>
</aff>
<aff id="Af3">
<institution><![CDATA[,Instituto Politécnico Nacional Centro de Investigación y de Estudios Avanzados-Unidad Zacatenco ]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>Mexico</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>00</month>
<year>2022</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>00</month>
<year>2022</year>
</pub-date>
<volume>14</volume>
<numero>28</numero>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_arttext&amp;pid=S2007-07052022000100109&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_abstract&amp;pid=S2007-07052022000100109&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_pdf&amp;pid=S2007-07052022000100109&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="en"><p><![CDATA[Abstract This work solves the regulation and tracking trajectories tasks for four degrees of freedom anthropomorphic robot manipulators. Two controllers are considered: a Super-Twisting controller (ST) and a Proportional Derivative with dynamics compensation (PD+) control. This comparison is carried out through numeric simulation of the dynamic model in the presence of disturbances using Matlab-Simulink software. Also, the tuning procedure of each controller is shown, as well as the stability criteria used for each case. The tunning of the ST controller is done considering the effects produced by an unknown Lipschitz disturbance; this guarantees robustness against this kind of disturbance. The results of the ST controller show the rejection of the disturbance, allowing the correct trajectory tracking. An algorithm based on the inverse kinematics solution is used to generate trajectories and their interpretation in generalized coordinates corresponding to the manipulator&#8217;s joint positions obtained through the geometric approach. In addition, we show the workspace, the manipulator parameterization, and the manipulator dynamic model through the Euler-Lagrange motion equations.]]></p></abstract>
<abstract abstract-type="short" xml:lang="es"><p><![CDATA[Resumen En el presente trabajo se resuelven las tareas de regulación y seguimiento de trayectorias para un robot manipulador antropomórfico de cuatro grados de libertad mediante un controlador Super-Twisting (ST), comparado con un control Proporcional Derivativo con compensación de la dinámica (PD+). La comparación se realiza mediante la simulación numérica en el software Matlab-Simulink del modelo dinámico con presencia de perturbaciones. También se muestra el procedimiento de sintonización de cada controlador, así como el criterio de estabilidad empleado para cada caso. Con respecto al controlador ST, la sintonización queda en función del efecto producido por una perturbación desconocida Lipschitz, lo que garantiza robustez a este tipo de perturbación. Los resultados del controlador ST muestran el rechazo de la perturbación, permitiendo el correcto seguimiento de trayectorias. En relación a la generación de trayectoria y su interpretación en coordenadas generalizadas correspondientes a las posiciones articulares del manipulador, se utiliza un algoritmo basado en la solución de la cinemática inversa, que se obtiene mediante enfoque geométrico. De igual modo, se muestra el modelo dinámico del manipulador a través de las ecuaciones de movimiento de Euler-Lagrange, el espacio de trabajo y la parametrización del manipulador.]]></p></abstract>
<kwd-group>
<kwd lng="en"><![CDATA[motion control]]></kwd>
<kwd lng="en"><![CDATA[sliding mode]]></kwd>
<kwd lng="en"><![CDATA[anthropomorphic robot]]></kwd>
<kwd lng="en"><![CDATA[manipulator robot]]></kwd>
<kwd lng="en"><![CDATA[robustness]]></kwd>
<kwd lng="en"><![CDATA[trajectory tracking]]></kwd>
<kwd lng="en"><![CDATA[simulation]]></kwd>
<kwd lng="en"><![CDATA[super-twisting]]></kwd>
<kwd lng="en"><![CDATA[tuning]]></kwd>
<kwd lng="en"><![CDATA[disturbances]]></kwd>
<kwd lng="en"><![CDATA[algorithms]]></kwd>
<kwd lng="en"><![CDATA[kinematics]]></kwd>
<kwd lng="es"><![CDATA[control de movimiento]]></kwd>
<kwd lng="es"><![CDATA[modos deslizantes]]></kwd>
<kwd lng="es"><![CDATA[robot antropomórfico]]></kwd>
<kwd lng="es"><![CDATA[robot manipulador]]></kwd>
<kwd lng="es"><![CDATA[robustez]]></kwd>
<kwd lng="es"><![CDATA[seguimiento de trayectoria]]></kwd>
<kwd lng="es"><![CDATA[simulación]]></kwd>
<kwd lng="es"><![CDATA[super-twisting]]></kwd>
<kwd lng="es"><![CDATA[sintonización]]></kwd>
<kwd lng="es"><![CDATA[perturbaciones]]></kwd>
<kwd lng="es"><![CDATA[algoritmos]]></kwd>
<kwd lng="es"><![CDATA[cinemática]]></kwd>
</kwd-group>
</article-meta>
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