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Resumen

 

MODELACIÓN DE ROBOTS INDUSTRIALES PARA TAREAS DE DISEÑO Y CONTROL
Luis Hernández Santana.
Ernesto Rubio Rodríguez.
Boris L. Martínez Jiménez.

Resumen: En el presente trabajo hemos hecho uso del software SIMCEF, para la representación geométrica y un Toolbox de MATLAB como programa de apoyo a los cálculos científicos, el que ha sido enriquecido con nuestras experiencias. Mostramos dos aplicaciones de estas herramientas, en un caso el trabajo de modelación y simulación de un robot IRB 6 llevado a cabo durante el proceso de recuperación del mismo, sobre todo para la definición de su sistema de control y como apoyo para eventuales aplicaciones en la programación fuera de línea. Además, mostramos el uso de dichas herramientas en la etapa de construcción de un manipulador para la soldadura de partes del automóvil.

Palabras Clave: Robótica, Manipuladores, Sistemas de control, Matlab, Simulación