Desarrollo de aplicaciones robóticas
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2017-09-26
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[ES]Este trabajo consiste en la monitorización de parámetros cinemáticos y el desarrollo de aplicaciones industriales basados en el brazo robótico IRB120 de la marca ABB.
Se realiza un estudio cinemático de cada eslabón del brazo robótico, ya que esos datos no son proporcionados por el fabricante. Para ello se ha creado una interfaz gráfica, la cual muestra las gráficas de la velocidad angular, la velocidad y la aceleración de cada uno de los eslabones. El estudio cinemático se realizará a través de unos sensores denominados acelerómetros, y la monitorización entre estos y Matlab se realizará a través de Arduino.
Se han investigado la utilización de las entradas y salidas digitales del equipo. Como una aplicación de estos conocimientos se ha diseñado una serie de programas de simulaciones de soldadura, estas permiten aprender la gestión de esas entradas y salidas digitales que nos ofrece el sistema de control incorporado al robot.
[EN]The purpose of this work is to monitor the kinematic parameters and the development of industrial applications based on the ABB's IRB120 robot arm located in the mechanical laboratory. Therefore, since such data are not provided by the company, it has been considered appropriate to obtain measurements by performing a kinematic study of each robotic arm link. In addition, to carry these measurements out, we have designed a graphical interphase that shows the graphs of the angular velocity, velocity and acceleration of each of the links. The kinematic study will be carried out through sensors called accelerometers, and the monitoring between these and Matlab will be done through Arduino. On the other hand, the use of the digital inputs and outputs of the equipment has been investigated. To end, by applying this knowledge, a series of programs of welding simulations have been designed, which allow learning the management of those digital inputs and outputs that the control system in the robot offers us.
[EN]The purpose of this work is to monitor the kinematic parameters and the development of industrial applications based on the ABB's IRB120 robot arm located in the mechanical laboratory. Therefore, since such data are not provided by the company, it has been considered appropriate to obtain measurements by performing a kinematic study of each robotic arm link. In addition, to carry these measurements out, we have designed a graphical interphase that shows the graphs of the angular velocity, velocity and acceleration of each of the links. The kinematic study will be carried out through sensors called accelerometers, and the monitoring between these and Matlab will be done through Arduino. On the other hand, the use of the digital inputs and outputs of the equipment has been investigated. To end, by applying this knowledge, a series of programs of welding simulations have been designed, which allow learning the management of those digital inputs and outputs that the control system in the robot offers us.
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Mecánica