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http://repositorio.espe.edu.ec/handle/21000/35764
Título : | Virtual training system for the Teaching-Learning process in the area of industrial robotics. |
Director(es): | Andaluz Ortiz, Víctor Hugo Naranjo Hidalgo, Cesar Alfredo |
Autor: | Araque Araque, Edison Javier Ipiales Jiménez, Jordan Stalin |
Palabras clave : | ROBÓTICA APRENDISAJE ROBUSTO HARDWARE EN EL CIRCUITO |
Fecha de publicación : | 9-feb-2023 |
Editorial: | Universidad de las Fuerzas Armadas ESPE. Extensión Latacunga. Carrera de Ingeniería en Electrónica e Instrumentación. |
Citación : | Araque Araque, Edison Javier. Ipiales Jiménez, Jordan Stalin (2023). Virtual training system for the Teaching-Learning process in the area of industrial robotics. Carrera de Ingeniería Electrónica e Instrumentación. Universidad de las Fuerzas Armadas ESPE. Extensión Latacunga. |
Abstract: | This paper focuses on the development of a virtual training system by applying simulation techniques such as: Full Simulation and Hardware-in-the-Loop (HIL). This virtual reality system is intended to be a teaching and learning tool focused on the area of industrial robotics. For this pur pose, mathematical models (kinematic and dynamic) have been considered. These models deter mine the characteristics and restrictions of the movements of a Scara SR-800 robot. The robot is then virtualized to simulate position and trajectory tasks within virtual environments. The Unity 3D graphic engine (Unity Software Inc., San Francisco, CA, USA), allows the design and development of the training system which is composed of a laboratory environment and an industrial environ ment. The same that contribute to the visualization and evaluation of the movements of the robot through the proposed control algorithm using the mathematical software (MatLab, manufactured by MathWorks, USA), through shared memories. This software in turn can be linked to an electronic board (Raspberry Pi) for data acquisition through a wireless connection. Finally, the stability and robustness of the implemented controllers are analyzed, as well as the correct operation of the vir tual training system. |
URI : | http://repositorio.espe.edu.ec/handle/21000/35764 |
Aparece en las colecciones: | Artículos Académicos - Carrera de Ingeniería Electrónica e Instrumentación (ESPEL) |
Ficheros en este ítem:
Fichero | Descripción | Tamaño | Formato | |
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AA-ESPEL-ENI-0504.pdf | ARTÍCULO ACADÉMICO | 5,76 MB | Adobe PDF | Visualizar/Abrir |
ESPEL-ENI-0504-P.pdf | PRESENTACIÓN | 6,31 MB | Adobe PDF | Visualizar/Abrir |
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