Desarrollo y control de un brazo robótico mediante la adquisición de datos en tiempo real hacia un espacio no real

Deiby Alejandro Triana Archila, Sebastián Roa Prada, Carlos A. Forero González

Resumen


When started with the study of robotic manipulators, several fundamental questions arise: What is the position of the tip relative to a known reference? What is the speed of said end? What is its acceleration? What is the path to follow to reach a target of known location? A practical way to evaluate the above questions is by creating a world virtual. These models 3D allow us to visualize and evaluate our mathematical models before perform high economic investments in our prototypes. It was obtained mathematical models to simulate the dynamics and trajectory of the manipulator. A graphical interface was created for the user. That Programs are used: SolidWorks, Blender and Unity3D.

 

Palabras clave


Blender 3D; dynamics; robotic manipulator; simulation; trajectory generation; Unity 3D; virtual environment

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