Desarrollo de una plataforma robótica para realizar experimentos de control, en el programa de Ingeniería Mecatrónica, Universidad Nacional sede Bogotá.

Abstract

This work focuses on the development of a 3 GDL robotic platform for the implementation of control schemes. To carry out this project, tools for plant identification are used, such as Simscape provided by Mathworks®. This toolbox for Matlab simulink, features Simscape Power Systems, Simscape Electronics, Simscape Fluids, Simscape Multibody, Simscape Driveline, which allows modeling both in the physical, electrical and electronic environment and thus obtain the dynamics of the system in a more efficient and fast, the robot design was done in the solidworks CAD and through the Simscape Multibody plugin the robot is exported to simulink, with Simscape Electronics it provides a set of blocks that allow the actuators to be modeled, for their respective control a PID controller is used through feedback which allows redundancy to control the assigned position, and for speed control the feed-forward control is used, these parameters are provided by the kinematic control which establishes the trajectories that each robot joint must follow over time . The trajectories that are implemented in this project are the following, in the case of point-to point trajectories; axis-to-axis movement, simultaneous movement of coordinated or isochronous axes and trajectory, in this type of trajectories the path of the robot's end does not matter, it only matters that it reaches the indicated end point. In the case of continuous trajectories, the path matters, since it is intended that the end of the robot describe a concrete and known trajectory to perform tasks such as cutting, welding, etc. Using the inverse transformation converts each point into its corresponding joint value for each actuator. This project implements cubic splines because of position and speed conditions are available, and this interpolator provides an excellent fit to the points entered and their calculation is not so complex. The extra activities in which they participate are the following; Robotics and robotics laboratory, servomechanisms, machine vision and automation of manufacturing processes courses, in order to provide proportional knowledge for the correct development of this project. Courses taught by the university for undergraduate and graduate students.