Automatización de bajo costo y control robusto para brazos robóticos

Abstract

ABSTRACT

In recent years, open source robotics applications have been developed, where precision in movements is considered the main objective when following a trajectory, however, due to different circumstances, small errors can interfere with the individual control of Manipulator joints, To improve the accuracy of the final effector in the Cartesian space, there are different types of methods such as gravity compensation that is included in the dynamic model. In addition to the development of a system that integrates concepts of Industry 4.0, a low-cost controller is used for this system, where high communication and processing capabilities allow rapid exchange of information between components. This article develops an application on an SBC embedded card called Raspberry Pi 3B to control the arm of the KUKA youBot based on open source, by means of gravity compensation the accuracy of the final effector is improved by establishing a new ROS node that will be The main responsible for the calibration and control of the robotic arm, finally, for the graphical interface, a GUI developed under C ++ for the interactive control of the robotic arm is shown, this is presented as a ROS node, where the positions can be saved and reproduce, that is to say it consists of discrete buttons for the execution of movements by sending positional values or by speed variation, as well as the activation of the control module for gravitational compensation, where the user manually performs the tasks.