Keywords
GITI-N (KTI-electronica), Brazo SCARA, Matlab, Servomotores inteligentes, vectorización de imágenes, SCARA ARM , Matlab, Smart servos, image vectorization
MODELADO Y CONTROL DE UN BRAZO ROBÓTICO SCARA
Abstract
Este proyecto trata del modelaje y control de un brazo SCARA, el cual se ha diseñado utilizando una herramienta de diseño 3D, y producido posteriormente con una impresora también 3D. El control se programa con un microcontrolador que se comunica con los distintos actuadores y sensores del sistema.
La principal motivación de este proyecto es modelar y montar un brazo SCARA funcional, puesto que este tipo de brazo robóticos son de gran importancia en la industria. Además, existe una motivación didáctica puesto que se utilizará la Raspberry 3b+ y servos inteligente (LX-16 A o SCS15) y su estudio facilitará su uso en futuros proyectos y su implementación en las docencia. Debido a los problemas surgido en la identificación de la planta también se utilizaron servomotores convencionales.
Además, se explica la cinemática inversa del brazo SCARA, el desarrollo de un programa para la vectorización de imágenes, y finalmente la maquina de estados implementada.
Los principales objetivos del proyecto son los que podemos ver a continuación:
• Fabricar un brazo SCARA 2D y equiparlo con toda la electrónica requerida para su control
• Construir un modelo matemático del robot que permite simular de forma precisa su comportamiento
• Diseñar un sistema de control e implantarlo en el entorno Matlab/Simulink
This project deals with the modeling and control of a SCARA arm, which has been designed using a 3D design tool and subsequently produced with a 3D printer as well. The control is programmed with a microcontroller that communicates with the different actuators and sensors of the system. The main motivation of this project is to model and assemble a functional SCARA arm since this type of robotic arm is of great importance in the industry. In addition, there is a didactic motivation since the Raspberry 3b + and intelligent servos (LX-16 A or SCS15) will be used and their study will facilitate their use in future projects and their implementation in teaching. Due to the problems arising in the identification of the plant, conventional servomotors were also used. In addition, the inverse kinematics of the SCARA arm is explained, the development of a program for the vectorization of images, and finally the state machine implemented. The main objectives of the project are the ones we can see below: • Fabricate a 2D SCARA arm and equip it with all the electronics required for its control • Build a mathematical model of the robot that allows to accurately simulate its behavior • Design a control system and implement it in the Matlab / Simulink environment
This project deals with the modeling and control of a SCARA arm, which has been designed using a 3D design tool and subsequently produced with a 3D printer as well. The control is programmed with a microcontroller that communicates with the different actuators and sensors of the system. The main motivation of this project is to model and assemble a functional SCARA arm since this type of robotic arm is of great importance in the industry. In addition, there is a didactic motivation since the Raspberry 3b + and intelligent servos (LX-16 A or SCS15) will be used and their study will facilitate their use in future projects and their implementation in teaching. Due to the problems arising in the identification of the plant, conventional servomotors were also used. In addition, the inverse kinematics of the SCARA arm is explained, the development of a program for the vectorization of images, and finally the state machine implemented. The main objectives of the project are the ones we can see below: • Fabricate a 2D SCARA arm and equip it with all the electronics required for its control • Build a mathematical model of the robot that allows to accurately simulate its behavior • Design a control system and implement it in the Matlab / Simulink environment
Información detallada
Materias, derechos, colecciones e identificadores
URI / Handle
http://hdl.handle.net/11531/31759Rights
Attribution-NonCommercial-NoDerivs 3.0 United States