Sistema de control para la teleoperación del robot Kuka Youbot mediante comunicaciones inalámbricas y el uso de tarjetas embebidas

Abstract

Due to the high cost of buying accessories for the control of machinery in the industry, the necessary knowledge is essential to be able to solve this type of problems for the wellness of any company. The main objective of this research project is the creation of a control system for the teleoperation of the Kuka Youbot robot with the use of free hardware and software because the current applications with the robot are mostly with previously programmed sequences, limiting a continuous and independent use in real time if required, inside the project the design of an electronic circuit is explained which was created in EasyEDA with the use of the ESP32WROOM32 microcontroller, which is a module focused on a wide variety of applications with its Wi-Fi and Bluetooth wireless communication, taking advantage of the fact that this microcontroller can be programmed with a variety of languages, it was used to create a wireless communication with the Kuka Youbot using the TCP protocol and the use of sockets at each end. To receive the information from the remote control, a node was created with the ability to receive data through the TCP / IP protocol and continuously publish messages to the robot node with the respective topic according to the needs of the operator. The system was created and tested with a real Kuka Youbot robot and another inside the Gazebo simulator with an Ubuntu 16.04 operating system and ROS Kinetic. This system to control the Kuka Youbot directly benefits the research area of the Technical University of Ambato, as well as its students and teachers by delivering a PCB circuit with a license open to modifications, it also makes a great contribution to the understanding of the robotics.