{"id":10886,"date":"2014-02-08T17:06:26","date_gmt":"2014-02-08T17:06:26","guid":{"rendered":"https:\/\/roboticslab.uc3m.es\/research-topics\/control-planificacion-del-brazo\/"},"modified":"2014-02-08T17:06:26","modified_gmt":"2014-02-08T17:06:26","slug":"control-planificacion-del-brazo","status":"publish","type":"research_topic","link":"https:\/\/roboticslab.uc3m.es\/es\/research-topics\/control-planificacion-del-brazo\/","title":{"rendered":"Control \/ Planificaci\u00f3n del Brazo"},"content":{"rendered":"<p>El Robot de Peso Ligero UC3M-1 (LWR-UC3M-1) es un brazo rob\u00f3tico con 6 grados de libertad que permite al robot realizar tareas de manipulaci\u00f3n en entornos humanos. Sus principales caracter\u00edsticas son las siguientes:\n<\/p>\n<ul>\n<li type=\"disc\">Cadena cinem\u00e1tica similar a la humana.<\/li>\n<li type=\"disc\">Peso total de 18 kilogramos.<\/li>\n<li type=\"disc\">Capacidad m\u00e1xima de carga de 4.5 kilogramos en el efector final.<\/li>\n<li type=\"disc\">Distancia m\u00e1xima alcanzada alrededor de 955 mil\u00edmetros.<\/li>\n<\/ul>\n<p> El control de bajo nivel del brazo se realiza con un controlador PMAC PCI que permite el control simult\u00e1neo de 8 motores. Adem\u00e1s, se han desarrollado diferentes t\u00e9cnicas de control cinem\u00e1tico de alto nivel para generar las trayectorias requeridas para m\u00faltiples tareas. Entre estas t\u00e9cnicas, las m\u00e1s importantes son: <\/p>\n<ul>\n<li type=\"disc\">Control cartesiano basado en la matriz Jacobiana anal\u00edtica, que nos proporciona la relaci\u00f3n entre las velocidades cartesianas en el efector final y las velocidades requeridas en las articulaciones para ejecutar la trayectoria requerida. ste esquema de control est\u00e1 basado en el propuesto por Sciavicco y Siciliano en <i>\u201cModelling and control of robot manipulators\u201d<\/i>, 2005.<\/li>\n<li type=\"disc\">Control cartesiano basado en el c\u00e1lculo de la cinem\u00e1tica inversa del manipulador utilizando algoritmos evolutivos. n este caso, se utiliza el algoritmo de Evoluci\u00f3n Diferencial para calcular las posiciones de los motores que permiten que el efector final alcance el punto cartesiano deseado en el espacio.<\/li>\n<\/ul>\n<p align=\"center\">\n<img fetchpriority=\"high\" decoding=\"async\" src=\"http:\/\/roboticslab.uc3m.es\/albums\/armpla\/manfred_door.sized.png\" width=\"280\" height=\"340\" alt=\"Laser Scan\" vspace=\"10\" hspace=\"10\"><\/p>\n","protected":false},"excerpt":{"rendered":"<p>El objetivo principal de esta \u00e1rea de investigaci\u00f3n es el control y planificaci\u00f3n del brazo del LWR-UC3M-1, brazo rob\u00f3tico de MANFRED-2.<\/p>\n","protected":false},"author":5,"featured_media":3438,"parent":0,"template":"","meta":{"_acf_changed":false},"categories":[76],"tags":[],"class_list":["post-10886","research_topic","type-research_topic","status-publish","has-post-thumbnail","hentry","category-temas-de-investigacion"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v25.3 - 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