The next step is to know the parameters of the potentiometers in each joint according to the angle of position or the distance to subsequently enter these parameters in the control program. The first stage in the control interface design methodology is the mechanical design of the SCARA manipulator and its subsequent study of movement with the SolidWorks Motion complement. It makes possible to convert test techniques and validation of complex algorithms into simpler and more flexible programming. Thanks to its specialized National Instruments programming environment, this software allows the creation of simple control algorithms through the visual programming of functional control blocks called VI (Virtual Instruments) that are dragged and released. However, tools such as LabVIEW (Laboratory Virtual Instrument Engineering Workbench) allow the development of control algorithms in restricted virtual environments, which simplify the simulation of the physical model. Industrial manipulators are closed architecture, so only specialists can make modifications. A virtual interface can be added with which to reliably control the movement parameters of both the manipulator and the final effector in real time, and even be able to visualize a 3D model of its real operation before performing the tasks. This has been satisfied with the development of industrial robots, manipulating both objects and tools in certain tasks. Therefore, we have seen the need to develop new hardware and software for the automation of processes that allow compliance with both national and international standards, as well as making a faster and more efficient manufacturing of products. The hypothesis was based on the possibility of establishing real-time parameter control in the robot.Īutomatic control in the industry has become a priority due to the increasing of production requirements. Palabras clave: Arduino, cinemática, Interfaz virtual, SCARA, dinámica.įrom the creation of virtual instruments, we can achieve control structures of both the SCARA manipulator and its final effector, as well as its simulation of the CAD model in real time all this, thanks to the creation of a virtual interface in real time. Desarrollar dicha integración requiere características particulares de hardware que soporte los ambientes de simulación y comunicación entre los diferentes softwares citados, así como, la adquisición y procesamiento de señales analógicas utilizadas en el algoritmo de control aplicado al modelo, con polinomios de Lagrange y ecuaciones de cinemática directa e inversa por el método Denavit-Hartenberg. Configuración de la interfaz de comunicación con SolidWorks. Elaboración de la interfaz para movimientos simultáneos 5. Configuración y comunicación con el hardware Arduino. Elaboración del diagrama de control en LabVIEW 3. Definición del espacio de trabajo del manipulador 2. El objetivo del trabajo es desarrollar una aplicación para el control de movimiento, integrando un modelo virtual en un prototipo de manipulador SCARA de 4 GDL. Keywords: Arduino, kinematics, virtual Interface, SCARA, dynamics.Įl control desacoplado de robots facilita la generación de trayectorias de posición, velocidad y aceleración, así como la combinación de secuencias de movimiento en las articulaciones. Developing such integration requires particular hardware characteristics that support simulation and communication environments between the different software mentioned, as well as the acquisition and processing of analog signals used in the control algorithm applied to the model, with Lagrange polynomials and direct and inverse kinematics modelling by the Denavit-Hartenberg method. Configuration of the communication interface with SolidWorks. Development of the interface for simultaneous movements 5. Configuration and communication with Arduino hardware. Preparation of the control diagram in LabVIEW 3. Definition of the manipulator's workspace 2. The aim of this work is to develop an application for motion control, integrating a virtual model into a prototype SCARA manipulator of 4 DOF. The decoupled control of robots eases the generation of trajectories of position, speed and acceleration, as well as the combination of sequences of movement in the joints.
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