Estimación de la función de densidad no paramétrica para caracterizar los tiempos de reconfiguración empleados por los controladores de un prototipo de Robot Planar.

Abstract

This article presents a planar robot prototype, which has two controllers to solve inverse kinematic trajectories, so that, if the main controller fails, the other controller is able to resume control of the prototype in the shortest time. possible, solving the current trajectory. This process is known as reconfiguration. This study aims to estimate a non-parametric density function capable of characterizing the behavior of the times used by the controllers for reconfiguration. The function has been determined by the kernel method and the best estimate is obtained with the Normal or Gaussian kernel under the mean square error criterion and based on Silverman's proposal for the selection of the bandwidth. In conclusion, the reliability of the controllers is directly related to the designed trajectory.