Resumen:
This work focuses on the proposal of a cascade control scheme between a kinematic controller and an adaptive dynamic compensator. By using the Hardware in the Loop (HIL) technique, which allows the connection between hardware that simulates a real system with a computer that emits control signals; in this case, the hardware simulates the behavior of a robotic system with unicycle traction developed in a virtual reality (VR) environment for a teaching-learning process. To represent the behavior of this robotic platform, kinematic and dynamic models are found.; in the case of the dynamic model, a robotic platform with unicycle traction is built to estimate the dynamic parameters experimentally and validate the dynamic model obtained. In turn, this constructed robotic platform allows comparing the behavior of the controllers with those implemented in the HIL technique. The research demonstrates the favorable behavior of the controller cascading a proposed trajectory and changing the dynamics of the unicycle robot with different loads applied as in an industrial environment. The objective is to replace the use of physical platforms for the evaluation of new control algorithm proposals, reducing costs and even being focused on educational environments where the acquisition of physical robotic platforms is avoided.
