Estudio, control e implementación de sistemas robóticos avanzados: implementación de un Robot Paralelo virtual en base a la plataforma que está siendo empleada en el proyecto de investigación grupal PIGR-20-01.

Abstract

This work is part of the Group Research Project PIGR-20-01, in which a parallel robot has been implemented focused on the treatment and rehabilitation of the knee. The problem to be solved is centered on the need to have a virtual parallel robot that allows testing on it, the different types of controllers designed for the physical robot. Nowadays, robotics is in continuous evolution and its needs change to face new challenges. In the field of robotics to cope with its continuous evolution has developed an operating system dedicated to robots, called ROS (Robot Operating System), which has a wide range of tools and libraries for the creation and manipulation of various robotic models. Therefore, in this work the ROS2 software and the GAZEBO simulator are used. In particular, the existing base files of the robot, developed in ROS, are analyzed to migrate them to ROS2, and to design a URDF structure that allows the implementation of the different parts created for the conformation of the robot. In addition, using the dynamic and kinematic models, PID controllers are designed and tuned for each of the actuators of the robot, as well as a control scheme that unifies them, to command the mobile platform to a desired position. To verify the operation, tests are performed by adding perturbations in the simulation environment and analyzing the performance of the control system so that the parallel robot can maintain or reach a desired position.