RT info:eu-repo/semantics/bachelorThesis
T1 Integración en PCB de la electrónica del Scorbot-ER V+. Diseño de algoritmos de control.
A1 Fariña Melián, Cristian Francisco
AB This project consists in the development of a Printed Circuit Board (PCB)that can perform the functions of the control electronics for the robot manipulator arms placed at the Robotics Laboratory of the Applied Sciences andSystems Department of the University of La Laguna.Nowadays, in the Robotics laboratory, there is a design of the of the electronic of control of the robotic arm called ’Scorbot-ER V+’. This design is analternative design of the electronic control circuit provided by the producer ofthe robotic arm. The design has been implemented and tested using some ’protoboards’ and it is the result of a final degree project of the course of 2018-2019called ’Implementation of the electronic for the dynamic control of a ScorbotER manipulator ’. The project was developed by two mates called Ana Est´evezP´erez and Carlos Javier Siverio Su´arez. This new design has the advantage ofallowing a very fast communication with the robot because it does not use theserial communication.Our final degree project (developed by Oscar Jes´us D´ıaz de la Fe and Cris- ´tian Francisco Fari˜na Meli´an) consists of integrating this alternative design ofthe electronic of control for the robotic arm ’Scorbot-ER V+’ in a printed circuitboard to improve its features and gives the design a more compact, professionaland aesthetic appearance. In fact, this implementation has the final objectiveof substitute the actual electronic of control of the ’Scorbot-ER V+’ in a future. Also, the project consists of the testing of the design of the electronic andthe software that allows the control of the movements of the manipulator andimprove it in case it was possible.Besides, another part of the project is the developed of an interface to jointhe new electronic of control to the robotic arm ’Scorbot-ER IX’. In the Robotics Laboratory of the Applied Sciences and Systems Department there are twotypes of manipulators, it would be interesting that the new electronic designcould work with both kinds of robotic arms and not only with the ’Scorbot-ERV+’. Due to this, one part of our project is related to find a method to connectthe new electronic of control to the ’Scorbot-ER IX’, that has a similar structureand way of functioning than the other one.On the other hand, the manipulator needs a new alarm system to work inthe correct way without problems of developing elevated voltages and currentsthat could damage the manipulator itself. This is the reason why another partof our project is orientated to create an alarm system for the robotic arm. Thisalarm system is studied in two ways. First way is from a hardware point of viewand it is related to develop some electronic circuits to protect the manipulatorin the case of working in an incorrect way. Second way is from a software pointof view and it has the objective of changing the current functional program ofthe manipulator, so this can take into account the possible failures that canoccur during the work of the robotic arm.Also, another part of the project is related to study and implementation ofsome new control systems in the manipulator that improve the current ones. In this moment, the only module of control that is implemented in the robotic armis the PID (Proportional Integral Derivative). This is the most extended andcommon control system that can be implemented in a manipulator, but this isnot the most efficient for this type of devices. In this project, it is proposed toimplement a PID with gravity compensation control scheme. It is a better option to manage the control of a robotic because it is a specific control scheme formanipulators that takes into account the gravity effects on the robot dynamics,avoiding the PID to do this task of control.Finally, the last part of the work is about improving the current instructionset for the manipulator controller. This program is divided in two parts and isprogrammed in ’C’ and ’Python’ respectively. Some of the typical functions ofa manipulator have been left out in the current program and other instructionsare not programmed in the correct way, so one part of the project is oriented tocomplete and improve this program.
YR 2020
FD 2020
LK http://riull.ull.es/xmlui/handle/915/20626
UL http://riull.ull.es/xmlui/handle/915/20626
LA es
DS Repositorio institucional de la Universidad de La Laguna
RD 26-abr-2024