Desarrollo de controladores por software para un manipulador usando OROCOS

Abstract

The present work as part of the research project PIMI 15-04 “Control adaptativo basado en inteligencia artificial aplicado a un sistema mecatrónico fundado en un robot paralelo para la diagnosis y rehabilitación”, carried out by the Facultad de Ingeniería Mecánica in collaboration with the Universidad Politécnica de Valencia, seeks to implement controllers for a manipulator based on open source software by using mainly OROCOS. The controller is applied in an anthropomorphic manipulator of three degrees of freedom which transfers metallic red or green objects of circular shape, these objects are located in specific points of the work area, so the manipulator moves them to their respective container depending on the color of the object. For the implementation, we use an Arduino card, to acquire data control the motors, and read the signal of a button that gives the beginning of the process. Also, a web camera is used to identify the colors of the objects.