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Diseño de un algoritmo para el cálculo de trayectorias de robots seriados con el fin de lograr el pre-agarre en posición y dirección del efector final, mediante visión de máquina
| Content Provider | Semantic Scholar |
|---|---|
| Author | Abril, Ghisays Yamid, Alexis |
| Copyright Year | 2014 |
| Abstract | Using a 3D vision device grabbed to the end of the effector of a MITSUBISHI robot, it was possible to make a three-dimensional reconstruction of its workspace and within this a geometric figure was situated, the robot identified the position of the object. Then having the start and end point of rhe trayectory of the robot, it was achieved a trayectory planner for the manipulator using a optimization technique known as Chevyshev aproximation, defining a mathematical function, its order and a number of points to build the trayectory. Finally, after having defined the above, code was generated robot motion. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | https://repository.unimilitar.edu.co/bitstream/handle/10654/11626/LIBRO%20TESIS.pdf;jsessionid=99376ADB7297DD11A890CE0DAC1D8857?sequence=1 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
