Diseño de un sistema de control de bajo costo para la generación de trayectorias del brazo robótico DM-5200 Labvolt 2001

Abstract

Robotic arms today are one of the main technologies for industrial automation and the increase in productivity of companies worldwide, however, these systems are still susceptible to mechanical failures in their joints or failures of electronic components in their controllers. In order to minimize the costs of repair and take advantage of artifacts like these, which may become obsolete, arise the need to carry out repowering processes. That is why in the present thesis the repowering process is developed, proposing the design of a low cost driver for the generation of trajectories of the robotic arm DM-5200 Lab-Volt 2001. This design emerged from 3 stages of development. Which began with an analysis of the current state of the system, where its controller and its structure were observed. With the above, the necessary information was obtained to design all the hardware and software that would allow the electronic controlling of the manipulator. Having the control of the manipulator, the respective kinematic studies were carried out that allowed the system to generate trajectories in an autonomous way. In each of the stages described an iterative validation process was carried out, which finally allowed the robotic arm Armdroid DM-5200 Lab-Volt 2001 to carry out straight line trajectories by means of a low cost control system.