The development and implementation process of a computer interface for the kinematic analysis of a parallel robot, in delta configuration, and its application to a previously formed prototype are exposed. Being identified the associated equations, and deduced the respective geometric parameters. On the other hand, the synthesis of the direct and inverse kinematic models, with the Matlab software, guarantees the calculation of a specific Cartesian position, in the end effector of the robot used, once certain joint values have been assigned to it, or vice versa. Finally, a user-friendly graphical interface is created, whose functions are: data entry, resolution of the models described, issuance of the corresponding results, representation of the robot used and its physical manipulation. The results obtained in the real location of the end effector with respect to the values deduced by the interface, are competitive for both models analyzed, even though the prototype used operates by means of servomotors. An average position error of 0.083 cm per axis and overall of 0.006 cm is observed during the tests developed.
A procedure to recover the phase from two interferograms with unknown phase step is proposed. A least-square approach is used to solve simultaneously for the illumination background and the introduced phase shift in a local window. This allows to calculate the interferogram phase of the pixel at the center of the window with the standard arc-tangent formula. This process is carried out sequentially across the interferogram field until all pixels are recovered. The proposed scheme is fast and robust, and unlike others methods eliminates the need to implement prior steps of background suppression or interferogram normalization. The developed procedure may be used in problematic environments where vibrations or other disturbances difficult to acquire a full set of phase shifted interferograms with constants phase shifts. The developed procedure is validated in real and simulated data with good results.
This document proposes an application of the theory of control systems in discrete events, and its synthesis using GRAFCET specification, for the management of a prototype system for handling and classifying objects by color. The interaction and synchronization between a robot in angular configuration and a conveyor belt are exposed as active elements, in order to establish a sequence of tasks to be executed; which begins with the entry of an object to the process, to end with the positioning of the same in the respective deposit, once its color has been identified. The development of the prototype for testing, the definition and programming of the process control system based on the suggested methodology and the integration of the graphical interface that allows the user to view its status is shown. The results suggest that the application of formal methods, such as GRAFCET, promote the establishment of a functional, structured, scalable, distributed and concurrent control system, by allowing adequate decentralization of the tasks that each active element must execute and at the same time determine its timely action, no interference with each other.
The evolution over time of structural changes in materials is of great importance in various areas of science, its study involves determining the phase with the change in the intensity of the physical properties to be measured. In this work, the use of Phase Displacement Interferometry PSI is presented using a combination algorithm of five interferograms or five steps, the results are compared with the addition of the states studied in the dynamic event, exposed in the Digital Holographic Interferometry DHI. The deformation was simulated from a rotating system in the coordinates (x, y). The results suggest that the phase map of the changing events with time that are calculated with PSI of five steps may have a relationship with the average of each change point of the dynamic event, with a difference of 0.96 radians.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.
hi@scite.ai
10624 S. Eastern Ave., Ste. A-614
Henderson, NV 89052, USA
Copyright © 2024 scite LLC. All rights reserved.
Made with 💙 for researchers
Part of the Research Solutions Family.