dc.contributor.advisor |
Ortiz Moreano, Jessica Sofia |
|
dc.contributor.advisor |
Andaluz Ortiz, Víctor Hugo |
|
dc.contributor.author |
Guilcazo Chasiloa, Cristian Paúl |
|
dc.contributor.author |
Nuñez Quishpe, Jefferson Stalyn |
|
dc.date.accessioned |
2023-09-26T16:13:38Z |
|
dc.date.available |
2023-09-26T16:13:38Z |
|
dc.date.issued |
2023-08-22 |
|
dc.identifier.citation |
Guilcazo Chasiloa, Cristian Paúl. Nuñez Quishpe, Jefferson Stalyn. (2023) Robot manipulator applied to bottle filling processes : an approach in the teaching-learning process. Carrera de Ingeniería en Electrónica e Instrumentación. Universidad de las Fuerzas Armadas ESPE. ESPEL. Sede Latacunga. |
es_ES |
dc.identifier.other |
ENI-0513 |
|
dc.identifier.uri |
http://repositorio.espe.edu.ec/handle/21000/36966 |
|
dc.description.abstract |
In this paper, a position-based visual servo control scheme for a bottle packaging process using the ScorBot-ER-4U robot manipulator is proposed. The control scheme considers the eye-to-hand configuration and is based on the kinematic model of the manipulator robot and the perspective projection model of the vision camera (Pinhole Model). The proposed scheme was evaluated on a virtual environment developed in the Unity3D graphics engine; and experimentally with the ScorBot-ER-4U manipulator robot and the ZED 2 stereo vision camera. Finally, it is concluded that the results obtained by simulation and experimentally show that the control errors converge to zero asymptotically. |
es_ES |
dc.description.sponsorship |
ESPEL |
es_ES |
dc.language.iso |
eng |
es_ES |
dc.publisher |
Universidad de las Fuerzas Armadas ESPE. ESPEL. Carrera de Ingeniería en Electrónica e Instrumentación. |
es_ES |
dc.rights |
openAccess |
es_ES |
dc.subject |
REALIDAD VIRTUAL |
es_ES |
dc.subject |
ROBOT MANIPULADOR |
es_ES |
dc.subject |
CONTROL SERVO VISUAL |
es_ES |
dc.subject |
SCORBOT-ER-4U |
es_ES |
dc.title |
Robot manipulator applied to bottle filling processes : an approach in the teaching-learning process. |
es_ES |
dc.type |
article |
es_ES |