Algoritmos de control en un prototipo de brazo robótico acuático modular con interfaz de realidad aumentada.

Abstract

This document presents the results of a research project on the control of a prototype of a modular aquatic robotic arm with an augmented reality interface. According to the abo ve, three main phases are structured: In Phase I, the kinematic analysis, dynamic model and kinematic control of the prototype are exposed. In Phase II, simulations are presented to corroborate the analysis carried out in Phase I. This section includes augmented reality inter faces to stimulate human-robot interaction through smartphones, web cameras and Microsoft HoloLens. Finally, in Phase III, communication is established between the augmented reality interfaces and the simulations through data transmission protocols to generate position or speed references that are remotely validated in the physical system located at the University of Texas A&M-Corpus Christi. This contemplates an anthropomorphic robot with 4 degrees of freedom with interchangeable modules to adapt various tools in the terminal element or to be integrated into other systems that share compatibility standards. The movements ge nerated by the prototype in the physical system present a high degree of correspondence to that shown in the simulations, evidencing the relationship between analysis and visualization interfaces