Generation and Control of Basic Geometric Trajectories for a Robot Manipulator Using CompactRIO®
Joint Authors
Rodriguez Serrezuela, Ruthber
Aroca Trujillo, Jorge Luis
Pérez-Ruiz, Alexander
Source
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-12-11
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
The utility of a robot manipulator focuses on the ability to locate its end effector in a position with a determined orientation following a specified trajectory.
For this, algorithms were used in order to generate and control the movements joints of robot in a synchronized way.
The high-level languages to program robots are based on three types of movement: joint interpolation (MOVEJ), linear interpolation (MOVES), and circular arcs (MOVEC), which are used to develop any type of task.
In this work, these three movements are implemented in the industrial controller CompactRIO, as part of the reconditioning process of a robot manipulator of five degrees of freedom (5 DOF) whose controller was obsolete.
As a result, it will have an interface in LabVIEW where you can view and modify the basic parameters implemented in the industrial controller.
In addition, the results of the validation tests of the joint positions and the end effector of the manipulator will be found.
American Psychological Association (APA)
Aroca Trujillo, Jorge Luis& Pérez-Ruiz, Alexander& Rodriguez Serrezuela, Ruthber. 2017. Generation and Control of Basic Geometric Trajectories for a Robot Manipulator Using CompactRIO®. Journal of Robotics،Vol. 2017, no. 2017, pp.1-11.
https://search.emarefa.net/detail/BIM-1186404
Modern Language Association (MLA)
Aroca Trujillo, Jorge Luis…[et al.]. Generation and Control of Basic Geometric Trajectories for a Robot Manipulator Using CompactRIO®. Journal of Robotics No. 2017 (2017), pp.1-11.
https://search.emarefa.net/detail/BIM-1186404
American Medical Association (AMA)
Aroca Trujillo, Jorge Luis& Pérez-Ruiz, Alexander& Rodriguez Serrezuela, Ruthber. Generation and Control of Basic Geometric Trajectories for a Robot Manipulator Using CompactRIO®. Journal of Robotics. 2017. Vol. 2017, no. 2017, pp.1-11.
https://search.emarefa.net/detail/BIM-1186404
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1186404