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FI 2016

0,500
© Thomson Reuters, Journal Citation Reports, 2016

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Métricas

  • Factor de Impacto: 0,500 (2016)
  • SCImago Journal Rank (SJR):0,212
  • Source Normalized Impact per Paper (SNIP):0,308

© Thomson Reuters, Journal Citation Reports, 2016

Revista Iberoamericana de Automática e Informática industrial 2017;14:279-87 - DOI: 10.1016/j.riai.2017.04.001
Uso de Plataformas para el Desarrollo de Aplicaciones Virtuales en el Modelado de Robot Manipuladores
Use of Platforms for the Development of Virtual Applications in the Modeling of Robot Manipulators
Róger E. Sánchez-Alonsoa,1, , Jorge Ortega-Moodyb,1, , José-Joel González-Barbosac,1,, , Guillermo Reyes-Moralesb,1,
a Universidad Nacional de Ingeniería, Avenida Universitaria, Managua, Nicaragua
b Instituto Tecnológico Superior de San Andrés Tuxtla, Carretera Costera del Golfo S/N, Km. 140+100, C.P. 95804. San Andrés Tuxtla, Veracruz, México
c Centro de Investigación en Ciencia Aplicada y Tecnología Avanzada, Instituto Politécnico Nacional, Cerro Blanco, N° 141, Colinas del Cimatario, C.P. 76090. Querétaro, QRO, México
Resumen

En este trabajo se propone el uso de plataformas para el desarrollo de aplicaciones virtuales como herramientas para el modelado de robots manipuladores. La propuesta se basa en aprovechar el gran potencial que actualmente tienen estas plataformas para solucionar la dinámica de cuerpos rígidos, lo que permite modelar de forma sencilla los aspectos mecánicos del manipulador. Por otro lado, la posibilidad ofrecida por estas plataformas de incorporar código de programación en lenguajes convencionales, permite modelar el comportamiento dinámico de sistemas físicos reales, tales como sensores y actuadores, lo que hace posible la implementación de una etapa virtual de instrumentación y control tal y como se realiza en un robot real. El uso de estas plataformas permite modelar desde cero cualquier robot manipulador. El modelado de un robot paralelo reconfigurable es presentado como caso de estudio.

Abstract

This paper describes the use of platforms for the development of virtual applications as tools for modeling of robot manipulators. The proposal is based on take advantage of the potential that these platforms currently have for solving the rigid body dynamics, which easily allows modeling the mechanical aspects of the manipulator. On the other hand, the possibility offered by these platforms of incorporate programming code in conventional languages allows to modeling the dynamic behavior of real physical systems, such as sensors and actuators, which allows implementing the development of the instrumentation and control stage of an industrial robot in the same way as a real one. Using these platforms allows the modeling from the bases of any manipulator robot. The modeling of a reconfigurable parallel robot is presented as a case study.

Palabras clave
Modelado, Robots manipuladores, Realidad virtual, Sistemas dinámicos
Keywords
Modeling, Manipulator Robots, Virtual reality, Dynamic systems
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URL: uni.edu.ni

Autor para correspondencia. (José-Joel González-Barbosa jgonzalezba@ipn.mx)
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