The utility of a robot manipulator focuses on the ability to locate its end effector in a position with a determined orientation following a specified trajectory. For this, algorithms were used in order to generate and control the movements joints of robot in a synchronized way. The high-level languages to program robots are based on three types of movement: joint interpolation (MOVEJ), linear interpolation (MOVES), and circular arcs (MOVEC), which are used to develop any type of task. In this work, these three movements are implemented in the industrial controller CompactRIO, as part of the reconditioning process of a robot manipulator of five degrees of freedom (5 DOF) whose controller was obsolete. As a result, it will have an interface in LabVIEW where you can view and modify the basic parameters implemented in the industrial controller. In addition, the results of the validation tests of the joint positions and the end effector of the manipulator will be found.
This paper will discuss the development and implementation of the direct and inverse kinematics models with five degrees of freedom manipulator robot (5 D.O.F) Scorbot ER 4PC , under an interface designed in Matlab. For the analysis of the Direct Kinematic Model (DKM), parameters and homogeneous transformation of Denvit Hartenverg are used, and for the Inverse Kinematic Model (IKM) an algebraic solution is used, which must be manipulate directly the equations found in DKM. These models are processed in Matlab, where they will have a graphical
This paper aims to define a new deformation through a real nonrestricted parameter R, using as a basis the conditions of the deformation generator of G. Kaniadakis. By means of R-deformation, some properties may be proven to the R-Deformed mathematics development, defining mainly the sum and the R-deformed product. Moreover, the R-deformed exponential and logarithm functions are defined and properties on such functions are exposed. It is important to highlight that both R-deformed sum and product operations and their properties respectively are reduced to the fundamental operations and properties,
This work explains the speed control design for a DC motor using fuzzy logic with LabVIEW software. It is also a literature review about the design and the implementation environment and is presented using fuzzy logic to describe the materials and methods used. Various processes on the subject highlight the idea, creation, development, and implementation of intelligent control, and the results considering the application and development for this purpose are presented.
system of the final effector in a desired orientation and position. To do this, algorithms must be used to generate and control the coordinated movements of the robot joints. This article will deal with three movements (MOVEJ, MOVES and MOVEC) implemented in the industrial controller CompactRIO, which can be combined so that the robot can develop any task that is scheduled.Keywords: MCD, MCI, CompactRIO, Slerp.
Humans have characteristic movements in the legsthatt end to be discontinuous with respect to the ground have the ability to evade obstacles, move on planes that have some degree of inclination and ascend/ descend stairs. Bipedal robots have a certain adaptation to a wide variety of surfaces where humans do the essential to live and work, a clear example can be seen when transported objects where we notice the recovery and movement in dangerous environments, among others. The main objective of this study is the development to make a mathematical model of the kinematics of a biped robot.
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