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| Format: | Artículo científico |
| Language: | en |
| Published: |
Instituto Politécnico Nacional
2021
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| Online Access: | https://www.redalyc.org/articulo.oa?id=61465285007 https://www.redalyc.org/journal/614/61465285007/ https://www.redalyc.org/journal/614/61465285007/html/ https://www.redalyc.org/journal/614/61465285007/61465285007.epub https://www.redalyc.org/journal/614/61465285007/movil https://doi.org/10.46842/ipn.cien.v25n1a06 |
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Table of Contents:
- Design of Control Interface for a SCARA Manipulator with Subactuated Final Effector Julio Cesar Cordero Muñoz Humiko Yahaira Hernández Acosta Raúl Benítez Álvarez Gerardo Julián Pérez Mendoza Ingeniería SCARA Arduino dynamics kinematics virtual Interface 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. 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 methodology consists: 1. Definition of the manipulator's workspace; 2. Preparation of the control diagram in LabVIEW; 3. Configuration and communication with Arduino hardware. 4. Development of the interface for simultaneous movements; 5. Configuration of the communication interface with SolidWorks. 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. 2021 artículo científico 1665-0654 https://www.redalyc.org/articulo.oa?id=61465285007 https://www.redalyc.org/journal/614/61465285007/ https://www.redalyc.org/journal/614/61465285007/html/ https://www.redalyc.org/journal/614/61465285007/61465285007.epub https://www.redalyc.org/journal/614/61465285007/movil https://doi.org/10.46842/ipn.cien.v25n1a06 en http://www.redalyc.org/revista.oa?id=614 Científica application/pdf Instituto Politécnico Nacional Científica (México) Num.1 Vol.25