Desarrollo de prácticas la laboratorio para el modelado, cooperación y generación de trayectorias para dos manipuladores robóticos ABB del laboratorio de control de procesos industriales

Abstract

The present work focuses on the development of laboratory practices using two ABB IRB-140 industrial robots that are part of the Industrial Process Control laboratory. These practices cover essential topics related to robotics and its programming, so that students can make applications that emulate simple processes using one or two robotic arms. The topics are mainly divided in three sections: Modeling, trajectory generation and cooperation. The modeling of the IRB 140 industrial robot includes the development of its direct kinematic model with the Denavit-Hartenberg method, which uses homogeneous transformation matrices. The generation of trajectories comprises the method for the robot to describe three simple trajectories in the work plane and finally the cooperation of robots includes the development of a simple process in which both robots interact with each other. Additionally, complementary practices have been developed where students will be able to: learn to use tools such as ABB's RobotStudio and to create user interfaces on the FlexPendant handheld terminal.