Regístrese
Buscar en
Revista Iberoamericana de Automática e Informática Industrial RIAI
Toda la web
Inicio Revista Iberoamericana de Automática e Informática Industrial RIAI Uso de Plataformas para el Desarrollo de Aplicaciones Virtuales en el Modelado d...
Información de la revista
Vol. 14. Núm. 3.
Páginas 279-287 (Julio - Septiembre 2017)
Compartir
Compartir
Descargar PDF
Más opciones de artículo
Visitas
1904
Vol. 14. Núm. 3.
Páginas 279-287 (Julio - Septiembre 2017)
DOI: 10.1016/j.riai.2017.04.001
Open Access
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
Visitas
...
Róger E. Sánchez-Alonsoa,1, Jorge Ortega-Moodyb,1, José-Joel González-Barbosac,1,
Autor para correspondencia
jgonzalezba@ipn.mx

Autor para correspondencia.
, 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
Información del artículo
Resumen
Texto completo
Bibliografía
Descargar PDF
Estadísticas
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.

Palabras clave:
Modelado
Robots manipuladores
Realidad virtual
Sistemas dinámicos
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.

Keywords:
Modeling
Manipulator Robots
Virtual reality
Dynamic systems
Referencias
[Adamo-Villani et al., 2013]
N. Adamo-Villani, T. Haley-Hermiz, R. Cutler.
Using a Serious Game Approach to Teach ‘Operator Precedence’ to Introductory Programming Students.
In 17th International Conference Information Visualisation (IV), IEEE, (2013), pp. 523-526
[Backlund et al., 2007]
P. Backlund, H. Engstrom, C. Hammar, M. Johannesson, M. Lebram.
Sidh-a Game Based Firefighter Training Simulation.
In 11th International Conference Information Visualization, pp. 899-907
[Brasil et al., 2011]
I. Brasil, F. Neto, J. Chagas, R. Monteiro, D. Souza, M. Bonates, A. Dantas.
An intelligent and persistent browser-based game for oil drilling operators training.
In 2011 IEEE 1st International Conference on Serious Games and Applications for Health (SeGAH), pp. 1-9
[Candelas et al., 2013]
F. Candelas, S. Puente, F. Torres, F. Ortiz, P. Gil, J. Pomares.
A Virtual Laboratory for Teaching Robotics.
International Journal of Engineering Education, 19 (2013), pp. 363-370
[Carpin et al., 2007]
S. Carpin, M. Lewis, J. Wang, S. Balakirsky, C. Scrapper.
USARSim: a robot simulator for research and education.
In Proceedings of the 2007 IEEE International Conference on Robotics and Automation, pp. 1400-1405
[Cerezo and Sastrón, 2015]
F. Cerezo, F. Sastrón.
Laboratorios virtuales y docencia de la automática en la formación tecnológica de base de alumnos preuniversitarios.
Revista Iberoamericana de Automática e Informática Industrial, 12 (2015), pp. 419-431
[da Silva-Simones and Ferreira, 2011]
P. da Silva-Simones, C. Ferreira.
Military war games edutainment.
In IEEE 1st International Conference on Serious Games and Applications for Health (SeGAH), pp. 1-7
[Dalay Udai et al., 2011]
Dalay Udai, A., Rajeevlochana, C.G., Kumar Saha, S., 2011. Dynamic Simulation of a KUKA KR5 Industrial Robot using MATLAB SimMechanics, In 15th National Conference on Machines and Mechanisms, India.
[Dang et al., 2013]
X.Z. Dang, L.S. Zhou, L.P. Liao, D. Liang.
Modelling and Simulation of Forward Kinematics for Planar 3-DOF Parallel Robot Based on Simulink.
Applied Mechanics and Materials, 397 (2013), pp. 1552-1557
[de Gea and Kirchner, 2008]
J. de Gea, F. Kirchner.
Modelling and Simulation of Robot Arm Interaction Forces Using Impedance Control, In Proceedings of the 17th World Congress.
The International Federation of Automaic Control, Korea, (2008),
[de et al., 2013]
O. de, K. Andrade, G. Fernandes, J. Martins, V. Roma, R. Joaquim, G. Caurin.
Rehabilitation robotics and serious games: An initial architecture for simultaneous players.
In Biosignals and Biorobotics Conference (BRC), IEEE, (2013), pp. 1-6
[Dung et al., 2010]
L.T. Dung, H.J. Kang, Y.S. Ro.
Robot manipulator modelling in MatlabSimmechanics with PD control and online Gravity compensation.
In 2010 International Forum on Strategic Technology (IFOST), IEEE, (2010), pp. 446-449
[Erazo et al., 2014]
O. Erazo, J. Pino, R. Pino, C. Fernandez.
Magic Mirror for Neurorehabilitation of People with Upper Limb Dysfunction Using Kinect.
In 47th Hawaii International Conference on System Sciences (HICSS), IEEE, (2014), pp. 2607-2615
[Fedák et al., 2014]
V. Fedák, F. Ďurovsky??, R. Üveges.
Analysis of Robotic System Motion in SimMechanics and MATLAB GUI Environment.
MATLAB Applications for the Practical Engineer,
[Gallardo-Alvarado et al., 2013]
J. Gallardo-Alvarado, M. García-Murillo, E. Castillo-Castañeda.
A 2(3-RRPS) parallel manipulator inspired by Gough-Stewart platform.
Robotica, 31 (2013), pp. 381-388
[Gao et al., 2014]
J.R. Gao, Y.Z. Wang, Z.P. Chen.
Modelling and Simulation of Inverse Kinematics for Planar 3-RRR Parallel Robot Based on SimMechanics.
Advanced Materials Research, 898 (2014), pp. 510-513
[García-García et al., 2012]
C. García-García, J. Fernández-Robles, V. Larios-Rosillo, H. Luga.
ALFIL: A Crowd Simulation Serious Game for Massive Evacuation Training and Awareness.
International Journal of Game-Based Learning, 2 (2012), pp. 71-86
[García-Murillo et al., 2013]
M. García-Murillo, E. Castillo-Castañeda, J. Gallardo-Alvarado.
Dynamics of a 2(3-RRPS) parallel manipulator.
In 9th Workshop on Robot Motion and Control, IEEE, (2013), pp. 270-275
[Guo et al., 2012]
H. Guo, H. Li, G. Chan, M. Skitmore.
Using game technologies to improve the safety of construction plant operations.
Accident Analysis & Prevention, 48 (2012), pp. 204-213
[Isermann et al., 1999]
R. Isermann, J. Schaffnit, S. Sinsel.
Hardware-in-the-loop simulation for the design and testing of engine-control systems.
Control Engineering Practice, 7 (1999), pp. 643-653
[Jamali and Shirazi, 2012]
P. Jamali, K.H. Shirazi.
Robot Manipulators: Modeling, Simulation and Optimal Multi-Variable Control.
Applied Mechanics and Materials, 232 (2012), pp. 383-387
[Jara et al., 2011]
C. Jara, F. Candelas, S. Puente, F. Torres.
Hands-on experience of undergraduate students in automatic and robotics using a virtual lab and remote laboratory.
Computers & Education, 57 (2011), pp. 2451-2461
[Khayat et al., 2012]
G. Khayat, T. Mabrouk, A. Elmaghraby.
Intelligent serious games system for children with learning disabilities.
In 17th International Conference on Computer Games (CGAMES), IEEE, (2012), pp. 30-34
[Koenig and Howard, 2004]
N. Koenig, A. Howard.
Design and use paradigms for Gazebo, an open-source multi-robot simulator.
IEEE, (2004), pp. 2149-2154
[Lancaster, 2014]
R. Lancaster.
Serious Game Simulation as a Teaching Strategy in Pharmacology.
Clinical Simulation in Nursing, 10 (2014), pp. 129-137
[Ljung and Glad, 1994]
L. Ljung, T. Glad.
Modeling of Dynamic systems.
PTR Prentice Hall, (1994),
[Mateo-Sanguino and Andújar-Márquez, 2012]
T. Mateo-Sanguino, J. Andújar-Márquez.
Simulation tool for teaching and learning 3D kinematics workspaces of serial robotic arms with up to 5-DOF.
Computer Applications in Engineering Education, 20 (2012), pp. 750-761
[Ogata, 2010]
K. Ogata.
Ingeniería de Control Moderna.
PEARSON EDUCACIÓN, 5ta ed, S.A., Madrid, (2010),
[Palm, 1998]
W.J. Palm.
Modeling, Analysis, and Control of Dynamic Systems.
2nd ed., John Wiley & Sons, (1998),
[Rohmer et al., 2013]
E. Rohmer, S.P.N. Singh, M. Freese.
V-REP: A versatile and scalable robot simulation framework.
In Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, (2013), pp. 1321-1326
[Sam et al., 2012]
R. Sam, K. Arrifin, N. Buniyamin.
Simulation of pick and place robotics system using Solidworks Softmotion.
In 2012 International Conference on System Engineering and Technology (ICSET), IEEE, (2012), pp. 1-6
[Sánchez-Alonso et al., 2015]
Sánchez-Alonso, R., González-Barbosa, J., Castillo-Castaneda, E., Gallardo-Alvarado, J., 2015. Kinematic analysis of a novel 2(3-RUS) parallel manipulator, Robotica.(First View Paper).
[Sánchez-Alonso et al., 2016]
R. Sánchez-Alonso, J. González-Barbosa, E. Castillo-Castaneda, M. García-Murillo.
Análisis Cinemático de un Novedoso Robot Paralelo Reconfigurable.
Revista Iberoamericana de Automática e Informática Industrial, 13 (2016), pp. 247-257
[Schäfer et al., 2013]
A. Schäfer, J. Holz, T. Leonhardt, U. Schroeder, P. Brauner, M. Ziefle.
From boring to scoring-a collaborative serious game for learning and practicing mathematical logic for computer science education.
Computer Science Education, 23 (2013), pp. 87-111
[Torres et al., 2006]
F. Torres, F. Candelas, S. Puente, J. Pomares, P. Gil, F. Ortiz.
Experiences with Virtual Environment and Remote Laboratory for Teaching and Learning Robotics at the University of Alicante.
International Journal of Engineering Education, 22 (2006), pp. 766-776
[Zyda, 2005]
M. Zyda.
From visual simulation to virtual reality to games.
Computer, 38 (2005), pp. 25-32

URL: uni.edu.ni

Opciones de artículo
Herramientas
es en pt
Política de cookies Cookies policy Política de cookies
Utilizamos cookies propias y de terceros para mejorar nuestros servicios y mostrarle publicidad relacionada con sus preferencias mediante el análisis de sus hábitos de navegación. Si continua navegando, consideramos que acepta su uso. Puede cambiar la configuración u obtener más información aquí. To improve our services and products, we use "cookies" (own or third parties authorized) to show advertising related to client preferences through the analyses of navigation customer behavior. Continuing navigation will be considered as acceptance of this use. You can change the settings or obtain more information by clicking here. Utilizamos cookies próprios e de terceiros para melhorar nossos serviços e mostrar publicidade relacionada às suas preferências, analisando seus hábitos de navegação. Se continuar a navegar, consideramos que aceita o seu uso. Você pode alterar a configuração ou obter mais informações aqui.