Planning of roads for a robot on a manufacturing cell
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Universidad Industrial de Santander
Abstract
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Se presenta el desarrollo de estrategias para la planeación de trayectorias de un robot móvildentro de una celda. El trabaja forma parte del desarrollo de una Celda Robotizada conformadapor un brazo mecánico de cinco grados de libertad (brazo) sobre una plataforma móvil (carro).Se realizó una revisión del estado del arte en robótica, especialmente en elproblema de planeaciónde trayectorias. Para el sistema específico se trabajó en dos etapas: Planeación de trayectoriaspara el carro y planeación de trayectorias para el brazo, cada una de estas consta de un modeladomatemático, estrategias de solución e implementación y simulación de las estrategias en unaHerramienta SalMare desarrollada en Matlab®.
We present the development of strategies for the planning of trajectories of a mobile robot within a cell. The work is part of the development of a robotic cell formed by a mechanical arm of five degrees of freedom (arm) on a mobile platform (car). A review of the state of the art in robotics was done, especially in the problem of planning of trajectories. For the specific system we worked in two stages: Planning of trajectories for the cart and planning of trajectories for the arm, each of them consists of a mathematical modeling, strategies of solution and implementation and simulation of the strategies in a SalMare Tool developed in Matlab®.
We present the development of strategies for the planning of trajectories of a mobile robot within a cell. The work is part of the development of a robotic cell formed by a mechanical arm of five degrees of freedom (arm) on a mobile platform (car). A review of the state of the art in robotics was done, especially in the problem of planning of trajectories. For the specific system we worked in two stages: Planning of trajectories for the cart and planning of trajectories for the arm, each of them consists of a mathematical modeling, strategies of solution and implementation and simulation of the strategies in a SalMare Tool developed in Matlab®.
Keywords
Planning of trajectories, robot, route, direct and inverse kinematics, Planeación de Trayectorias, robot, ruta, cinemática directa e inversa