Monitorización de parámetros eléctricos de un manipulador móvil

Abstract

Currently, robotic systems have been implemented for automation in manufacturing processes, like creating improvement in the quality of products, however, according to the evolution of these technologies, it has been necessary to implement real-time monitoring systems for each robotic device. That way knowing the value of the robot's electrical parameters, it prevents driver failures, system overloads, engine damage, reducing boxes, and the mechanical structure of the device in general. Also, today it is considered as the main complexity in robotics for its development, the implementation of algorithms that define the behaviour of the robot, therefore building a robot from scratch is no longer considered a significant contribution to research, wherefore the importance of using a Robot Operating System. So, this research is developed with ROS (Robotic Operating System), using a low-cost Raspberry Pi microcontroller, where the electrical current of the KUKA youBot joints is monitored, this being a mobile manipulator developed for research, which has opensource interfaces and that allow access to the system in almost all its levels of hardware control Communication is developed under the MQTT protocol and for the graphical monitoring interface, Web Portal is used. Finally, a test plan is defined with different weights coupled to the manipulator, where the effectiveness of the System is 97%, guaranteeing the sending of data in real-time and without data loss.