Didactic demonstration of 3gdl robot dynamics and partitioned control for trajectory tracking

The article presents the analysis of a robot with three degrees of freedom to follow trajectories through a partitioned control. Which is made up of two revolute and one prismatic joint where the end effector is located, that allows it to move correctly in its work area. This robot has a different structure from those most studied and analyzed by current literature, therefore it presents an opportunity to be used as a didactic resource, due to the structure, the degrees of freedom and the affinity of the models used by the students. The analysis consists of the use of the DH rule for the assignment of frames and referential axes, centers of mass, dynamic model by Jacobian and Christoffel symbols, inverse kinematic model, variables such as friction, gravitational and friction compensation, ending in a model in "Simulink" capable of following trajectories from the partitioned control law.