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Resumen

 

MECHATRONIC 3D VISION SYSTEM FOR KINEMATIC CONTROL OF AN ARM ROBOT WITH SIX DEGREES OF FREEDOM AND SELECTION OF OBJECTS

SISTEMA MECATRONICO DE VISION 3D PARA CONTROL CINEMATICO DE UN BRAZO ROBOT DE SEIS GRADOS DE LIBERTAD Y SELECCION DE OBJETOS
MSc. (c), Harold A. Rodríguez A.
PhD. Miguel A. Márquez R.

Abstract: The primary target of the present work is to design and to construct a prototype of a mechatronic system for the selection of objects, using a robot of an anthropomorphic type as the main motor element. The arm will be controlled by means of a specialized software which captures images of the scene by means of two digital cameras. The control system is based on the kinematic and dynamic study of the robot, which is the basis so that the designed controller directs the robot in an efficient way to the suitable position and direction.

Resumen: El objetivo principal del presente trabajo es dis eñar y construir un prototipo de un sistema mecatrónico para la selección de objetos, utilizando como elemento motriz principal un robot de tipo antropomórfico. El brazo será controlado mediante un software especializado el cual captura imágenes de la escena mediante dos cámaras digitales. El sistema de control está basado en el estudio cinemático y dinámico del robot, el cual es la base para que el controlador diseñado dirija al robot de manera eficiente a la posición y orientación adecuadas.

Keywords: Digital treatment of images, Anthropomorphic robot, mechatronic system, control, Matlab, Simulink