Diseño e implementación de una interfaz de comunicación para el control de posición de un brazo robótico de forma local y remota.

Abstract

This study responds to the growing need for automation in the manufacturing industry, proposing an efficient solution for the implementation of robotic arms. Recognizing the potential high costs associated, the importance of autonomous robot programming is highlighted, especially using an open source programming language to reduce additional costs. The main focus of this research focuses on the design and implementation of a communication interface based on direct and inverse kinematics for the control of the PincherX100 robotic arm with 4 degrees of freedom (DOF), addressing communication at three levels: direct, local and remote. The user interfaces designed for each type of communication involve the host computer, which communicates directly with the robotic arm, while local and remote computers interact with the host to control the robotic manipulator. Python and the DYNAMIXEL SDK package were used to develop the communication interface and graphical user interface. Direct kinematics was the result of geometric methods and Denavit Hartenberg's algorithm; and, inverse kinematics using Python tools. Local communication was initiated through a LAN network, while remote communication was implemented through Hamachi. The use of free software for movement control stands out, demonstrating the viability of reducing implementation costs and eliminating manufacturer's software. However, it is observed that remote communication takes six times longer than local communication, attributable to factors such as distance, bandwidth and interference in the network.