Desarrollo de un sistema de control dinámico monoarticular de bimanipuladores colaborativos con HMI de control para Tecnoacademia Cúcuta.

Abstract

Currently, the applications of industrial robotics are focused on Industry 4.0, due to rapid advances in smart manufacturing technologies. However, there are already discussions on the subject of the fifth industrial revolution (industry 5.0), that is projected towards the joint work between humans and robots, thanks to the significant results and research in artificial intelligence (AI), as well as work with applications of collaborative manipulators that seek to lay the foundations of future joint tasks between humans and robots, since these ways of automating processes have among their qualities to improve the continuous and the increase of productivity, in addition to the fact that the designs are structurally flexible making it easy to adapt to small work spaces. In this project, the different morphologies of manipulators were studied, seeking the best adaptation to the application of collaborative robotics, establishing the design criteria that meet the elaboration and design of the manipulators, accompanying them with selection matrices. The development of kinematic models (direct and inverse) and the generation of trajectories for kinematic control were executed. Likewise, the design and implementation of a monoarticular dynamic control system involved in the application of collaborative robotics with bimanipulators was carried out, as well as the development and design of a graphic interface that facilitates the user, control the different options of modes or processes executed in the development of the project, proposing a clear methodology for the development of a dynamic control system for collaborative manipulators. With which this project consisted of the compilation of the process of design and construction of an educational module of collaborative robotics in bimanipulators for the students of the Tecnoacademia Cúcuta unit. Where robotics practices will be carried out such as the study of direct and reverse kinematic models, as well as the generation of kinematic control and trajectories. As well as the generation of collaborative trajectories based on the development of dynamic control, in order for this entity to have more contributions in the field of research.