Desarrollo de un manipulador y sistema de control cinemático con HMI de control embebida con fines académicos para tecnoacademia Cúcuta.

Abstract

This work reflects the development of an industrial manipulator, from its design stages to its physical creation, in addition to the development of the embedded HMI kinematic control system, such as its implementation and the selection of appropriate electronic devices for possible development. this project was created for Tecnoacademia sectional Cucuta, for academic purposes. In the first instance, the basic concepts to be taken into account for understanding the work that was developed, concepts specific to the robotics theme and problem addressed on the project were described. Entering the development of the device, the physical design of the manipulator is addressed, proposing the kinematic, differential and dynamic models, as well as its structure, assembly form, selection of elements, among others. subsequently, the kinematic control system with an auto-adjustment system is developed, establishing the initial conditions for the fulfillment of trajectories with control HMI. once the physical design and the kinematic control design have been completed, a strategy to concatenate trajectories is defined, once this step is completed, the design of the embedded hmi control system and the kinematic control learning and operation guides continue. Of the manipulator, giving way to implement the kinematic control of the didactic manipulator as a robotized scale work cell workbench, to finish with the validation of the kinematic control system of the manipulator.