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Generation and Control of Basic Geometric Trajectories for a Robot Manipulator Using CompactRIO®

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Generation and Control of Basic Geometric Trajectories for a Robot Manipulator Using CompactRIO®.pdf (3.23 MB)
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Aroca Trujillo, Jorge Luis
Rodriguez Serrezuela, Ruthber
Pérez Ruiz, Alexander
Abstract (Spanish)
La utilidad de un robot manipulador se centra en la capacidad de ubicar su efector final en una posición con una orientación determinada siguiendo una trayectoria específica. Para ello, se utilizaron algoritmos con el fin de generar y controlar los movimientos de las articulaciones del robot de forma sincronizada. Los lenguajes de alto nivel para programar robots se basan en tres tipos de movimiento: interpolación conjunta (MOVEJ), interpolación lineal (MOVES) y arcos circulares (MOVEC), que se utilizan para desarrollar cualquier tipo de tarea. En este trabajo, estos tres movimientos se implementan en el controlador industrial CompactRIO, como parte del proceso de reacondicionamiento de un robot manipulador de cinco grados de libertad (5 DOF) cuyo controlador estaba obsoleto. Como resultado, tendrá una interfaz en LabVIEW donde podrá ver y modificar los parámetros básicos implementados en el controlador industrial.
Abstract (English)
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.
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11 páginas
URI: https://repositorio.escuelaing.edu.co/handle/001/1491
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