Generación de trayectorias para el brazo robótico (ArmX)

Ingeniería Electrónica, Automática y Comunicaciones

Castilla Pérez, Alejandro²  Milanés Hermosilla, Daily¹ 

[1] Universidad de Oriente, Santiago de Cuba, Cuba;CEDAI, Santiago de Cuba, Cuba

关键词: Kinematic model;    Kinematic control;    dynamic control;    tracking trajectories;    user interface.;   

DOI  :  

来源: Instituto Superior Politecnico "Jose Antonio Echeverria"

【 摘 要 】

In this paper the modeling and simulation of direct and inverse kinematics of a robot joint four degrees of freedom that clip as end effector to manipulate objects was made, and has defined its working surface in three dimensional space. Kinematic robot control trajectories for tracking point to point, coordinated and continuous to the end is performed. Dynamic control is performed using an action undocked on-off control. Free hardware platform Arduino, Arduino Mega2560 specifically and its development environment was used. It was also designed and implemented a shield plate type with additional electronics needed to control the manipulator. Finally, a graphical interface using as a tool the LabWindows / CVI 9.0 software from National Instruments, which allows the user to send from the PC the desired joint and Cartesian coordinate values, including the position of the clamp and planning was implemented tasks and types of trajectories.

【 授权许可】

Unknown