Control of a SCARA Robot Manipulador.

Abstract

This document describes the implementation of a 3D virtual simulator to evaluate the performance of control algorithms, applied to the SCARA robot manipulator for the execution of autonomous tasks. The virtual simulation environment allows immersion and interaction of users in order to manipulate and control robot manipulator tasks within laboratory and virtualized environments for industrial processes. In order to get the robot-environment interaction, is necessary to stablish the Unity 3D graphic engine because it exchanges information with Matlab software to analyze the control strategies. The information transfer is bidirectional and in real time for feedback within the control loop. Finally, the simulation is evaluated by incorporating a control scheme to observe the response of the operator to different trajectories created according to the virtual environment.