Delta robot controlled by robotic operating system

Parallel robots, which are faster and more robust than serial robots, use servomotors for movement generation on each of their joints, which are independently controlled. This control is usually addressed by wired connections, which increases the fail probability and has an effect on the actuation s...

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Autores:
Rivas-Lalaleo, David Raimundo
Galarza-Zambrano, Eddie Egberto
Tumbaco-Mendoza, Diana Carolina
Quimbita-Zapata, Wilmer Enrique
Galarza-Barrionuevo, Omar Vinicio
Tipo de recurso:
Fecha de publicación:
2015
Institución:
Universidad Santo Tomás
Repositorio:
Repositorio Institucional USTA
Idioma:
spa
OAI Identifier:
oai:repository.usta.edu.co:11634/36129
Acceso en línea:
http://revistas.ustabuca.edu.co/index.php/ITECKNE/article/view/821
http://hdl.handle.net/11634/36129
Palabra clave:
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License
Copyright (c) 2018 ITECKNE
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oai_identifier_str oai:repository.usta.edu.co:11634/36129
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repository_id_str
spelling Rivas-Lalaleo, David RaimundoGalarza-Zambrano, Eddie EgbertoTumbaco-Mendoza, Diana CarolinaQuimbita-Zapata, Wilmer EnriqueGalarza-Barrionuevo, Omar Vinicio2021-09-24T13:17:29Z2021-09-24T13:17:29Z2015-06-16http://revistas.ustabuca.edu.co/index.php/ITECKNE/article/view/82110.15332/iteckne.v12i1.821http://hdl.handle.net/11634/36129Parallel robots, which are faster and more robust than serial robots, use servomotors for movement generation on each of their joints, which are independently controlled. This control is usually addressed by wired connections, which increases the fail probability and has an effect on the actuation speed. In this work, we propose to implement a wireless control system for parallel robots, based on RS-232 interface. We used Robotic Operation System (ROS) for controlling the joint actuators, and a Python developed algorithm supported by OpenCV libraries. Experiments in a drawing application with bidimensional plots showed that the network implementation and the control algorithm provide us with increased robustness, response velocity and reliability (lower fail probability), thanks to the reduction of connection points.Los robots paralelos, son más rápidos y más robusto que los robots tipo serie, se utilizan nervomotores para la generación de movimiento en cada una de sus articulaciones, que son controlados de forma independiente.  El control y conexión de los actuadores se lo realiza mediante buses de comunicación con la finalidad de reducir las probabilidades de fallos. En este trabajo, se propone implementar un sistema de control para robots paralelos, basado en la interfaz RS-232. Se utilizó el Sistema Operativo Robótico (ROS) para controlar  los  conjuntos  de  actuadores,  y  un  algoritmo  desarrollado  Python  apoyado  por  las  bibliotecas  OpenCV. Los experimentos en una aplicación dibujo con gráficos bidimensionales mostraron que la implementación de la red de actuadores y el algoritmo de control proporcionan robustez, velocidad  de  respuesta  y  fiabilidad  (inferior  fallan  probabilidad),  gracias  a  la  reducción  de  los puntos de conexión.application/pdfspaUniversidad Santo Tomás. Seccional Bucaramangahttp://revistas.ustabuca.edu.co/index.php/ITECKNE/article/view/821/636ITECKNE; Vol 12 No 1 (2015); 54-59ITECKNE; Vol 12 No 1 (2015); 54-592339-34831692-1798Copyright (c) 2018 ITECKNEhttp://purl.org/coar/access_right/c_abf2Delta robot controlled by robotic operating systemRobot delta controlado con sistema operativo robótico (R.O.S.)info:eu-repo/semantics/articlehttp://purl.org/coar/version/c_970fb48d4fbd8a85http://purl.org/coar/resource_type/c_2df8fbb111634/36129oai:repository.usta.edu.co:11634/361292023-07-14 16:20:39.803metadata only accessRepositorio Universidad Santo Tomásnoreply@usta.edu.co
dc.title.spa.fl_str_mv Delta robot controlled by robotic operating system
dc.title.alternative.eng.fl_str_mv Robot delta controlado con sistema operativo robótico (R.O.S.)
title Delta robot controlled by robotic operating system
spellingShingle Delta robot controlled by robotic operating system
title_short Delta robot controlled by robotic operating system
title_full Delta robot controlled by robotic operating system
title_fullStr Delta robot controlled by robotic operating system
title_full_unstemmed Delta robot controlled by robotic operating system
title_sort Delta robot controlled by robotic operating system
dc.creator.fl_str_mv Rivas-Lalaleo, David Raimundo
Galarza-Zambrano, Eddie Egberto
Tumbaco-Mendoza, Diana Carolina
Quimbita-Zapata, Wilmer Enrique
Galarza-Barrionuevo, Omar Vinicio
dc.contributor.author.none.fl_str_mv Rivas-Lalaleo, David Raimundo
Galarza-Zambrano, Eddie Egberto
Tumbaco-Mendoza, Diana Carolina
Quimbita-Zapata, Wilmer Enrique
Galarza-Barrionuevo, Omar Vinicio
description Parallel robots, which are faster and more robust than serial robots, use servomotors for movement generation on each of their joints, which are independently controlled. This control is usually addressed by wired connections, which increases the fail probability and has an effect on the actuation speed. In this work, we propose to implement a wireless control system for parallel robots, based on RS-232 interface. We used Robotic Operation System (ROS) for controlling the joint actuators, and a Python developed algorithm supported by OpenCV libraries. Experiments in a drawing application with bidimensional plots showed that the network implementation and the control algorithm provide us with increased robustness, response velocity and reliability (lower fail probability), thanks to the reduction of connection points.
publishDate 2015
dc.date.issued.none.fl_str_mv 2015-06-16
dc.date.accessioned.none.fl_str_mv 2021-09-24T13:17:29Z
dc.date.available.none.fl_str_mv 2021-09-24T13:17:29Z
dc.type.coarversion.fl_str_mv http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.coar.fl_str_mv http://purl.org/coar/resource_type/c_2df8fbb1
dc.type.drive.none.fl_str_mv info:eu-repo/semantics/article
dc.identifier.none.fl_str_mv http://revistas.ustabuca.edu.co/index.php/ITECKNE/article/view/821
10.15332/iteckne.v12i1.821
dc.identifier.uri.none.fl_str_mv http://hdl.handle.net/11634/36129
url http://revistas.ustabuca.edu.co/index.php/ITECKNE/article/view/821
http://hdl.handle.net/11634/36129
identifier_str_mv 10.15332/iteckne.v12i1.821
dc.language.iso.none.fl_str_mv spa
language spa
dc.relation.none.fl_str_mv http://revistas.ustabuca.edu.co/index.php/ITECKNE/article/view/821/636
dc.relation.citationissue.spa.fl_str_mv ITECKNE; Vol 12 No 1 (2015); 54-59
dc.relation.citationissue.eng.fl_str_mv ITECKNE; Vol 12 No 1 (2015); 54-59
dc.relation.citationissue.none.fl_str_mv 2339-3483
1692-1798
dc.rights.eng.fl_str_mv Copyright (c) 2018 ITECKNE
dc.rights.coar.fl_str_mv http://purl.org/coar/access_right/c_abf2
rights_invalid_str_mv Copyright (c) 2018 ITECKNE
http://purl.org/coar/access_right/c_abf2
dc.format.mimetype.none.fl_str_mv application/pdf
dc.publisher.eng.fl_str_mv Universidad Santo Tomás. Seccional Bucaramanga
institution Universidad Santo Tomás
repository.name.fl_str_mv Repositorio Universidad Santo Tomás
repository.mail.fl_str_mv noreply@usta.edu.co
_version_ 1782026387879624704

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