Uso de Plataformas para el Desarrollo de Aplicaciones Virtuales en el Modelado de Robot Manipuladores

Róger E. Sánchez-Alonso, Jorge Ortega-Moody, José Joel González-Barbosa, Guillermo Reyes-Morales

Resumen

En este trabajo se propone el uso de plataformas para el desarrollo de aplicaciones virtuales como herramientas para el modelado de robots manipuladores. La propuesta se basa en aprovechar el gran potencial que actualmente tienen estas plataformas para solucionar la dinámica de cuerpos rígidos, lo que permite modelar de forma sencilla los aspectos mecánicos del manipulador. Por otro lado, la posibilidad ofrecida por estas plataformas de incorporar código de programación en lenguajes convencionales, permite modelar el comportamiento dinámico de sistemas físicos reales, tales como sensores y actuadores, lo que hace posible la implementación de una etapa virtual de instrumentación y control tal y como se realiza en un robot real. El uso de estas plataformas permite modelar desde cero cualquier robot manipulador. El modelado de un robot paralelo reconfigurable es presentado como caso de estudio.

Palabras clave

Modelado; Robots manipuladores; Realidad virtual; Sistemas dinámicos

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Referencias

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1. Virtualization of Robotic Hands Using Mobile Devices †
Santiago T. Puente, Lucía Más, Fernando Torres, and Francisco A. Candelas
Robotics  vol: 8  num.: 3  primera página: 81  año: 2019  
doi: 10.3390/robotics8030081



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