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The objective of this work is to design and implement an adaptive control in conjunction with vector control, with changes in the desired dynamics for the positioning of two degrees of freedom robotic arms. The dynamic model is obtained by applying the Euler-Lagrange method in conjunction with that of a permanent magnet synchronous motor in the synchronous DQ reference frame. An adaptive controller is designed by reference model that generates the reference torque for the vector control of the electric motor. The stability of the closed-loop system is guaranteed by applying the Lyapunov method in the adaptive laws. The control strategy is implemented on the TMS320F28335 processor using the MATLAB and Code Composer tools. The results of the experimental tests are compared with the original control scheme, obtaining a system with lower dynamic errors. [ABSTRACT FROM AUTHOR]

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In this paper, a mathematical and logical formulation for the 3D virtual instrumentation of the Amatrol's Pegasus II robot on Matlab is described, making use of the techniques provided by direct position kinematics, and respective translational and rotational operations. Additionally, a geometricvectorial procedure is described to solve the problem of inverse position kinematics for the same robotic arm, so that the robotic arm follows a straight line trajectory between the original point in which it is located, and a given point (x, y, z), making pertinent approximations that facilitate such solution. It is explained why this procedure is useful to solve the inverse kinematic problem and the advantage it represents concerning other procedures. Finally, the results obtained by the real-time virtual instrumentation of inverse kinematics on the Pegasus II Robot Arm are presented, verifying the efficiency of such described procedure. [ABSTRACT FROM AUTHOR]

The following article presents the design and construction of the mechanical structure of an anthropomorphic robotic arm with four degrees of freedom for teaching purposes. The project started with a concept development phase obtaining six proposals designed to meet the customer needs. Subsequently, the selection of the concept to be developed was made taking as reference the product specifications. For the proposed concept were conducted seven phases of redesign that allowed achieving the proposed final design. Specifically, successive stages of simulation were carried out to analyze the dynamic response of the structure under the application of loads over time, to observe the stress state applied to each part and resize the links considering the previously defined limitations and specifications. With the results obtained, a structure was generated that meets the design specifications initially established, taking into consideration the constraints related to the servo motors to be used and the maximum load to be manipulated. Finally, the direct and inverse kinematic model of the arm is shown in addition to the final product developed. [ABSTRACT FROM AUTHOR]

Today, robotic applications are accompanied by machine vision systems, which monitor their activities and allow remote control of them. In this paper, the design and development of a control system for the remote-control of a robotic arm with 4 degrees of freedom (DOF) motion using machine vision are presented. The movements of the manipulator and end effector within the workspace, are controlled by a joystick type device that allows the user to generate the path to follow. To determine the position of the robotic arm are used a Kinect sensor and reference figure. This figure is placed in the final position in the workspace, which is recognized by a machine vision system. Kinect estimates the distance between the manipulator and reference object, using depth map of infrared camera (IR). Testing with Remote-control system and machine vision system demonstrated the accuracy of the method for calculating spatial distances using the Kinect, with low error regarding actual measurements distances within the working environment of the manipulator. [ABSTRACT FROM AUTHOR]

Copyright of Revista Ingeniare is the property of Universidad Libre Seccional Barranquilla and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

This article discloses the development of a robotic arm implemented in order to serve for soldering electronic devices in the circuit board, the system includes a keypad for inputting coordinates, temperature ranges can benefit soldering iron welding appropriate for each device and a LCD screen that displays real-time all the data are entered, the automation of this system was done using the PIC 16F877A Microchip Company. [ABSTRACT FROM AUTHOR]

This paper describes the design and implementation of a robotic module for Solanum Quitoense classification using control techniques, computer vision and robotics. The process that allows the classification of Solanum Quitoense (or lulo) operates on algorithms to control a 5 degrees-of-freedom robotic arm that, based on the information obtained from computer vision techniques, selects lulos with features previously defined by the user, such as size, color, and imperfections in the fruit. Everything starts by making a CAD module design which allows establishing physical properties, defining materials and manufacturing techniques and performing a motion study of the different mechanisms involved in the process. Subsequently, control algorithms, robotic arm kinematics and computer vision algorithms are implemented. The result is summarized in an academic-based robotic module that allows lulo classification. [ABSTRACT FROM AUTHOR]

Greenhouse agriculture requires control of information related with a number of parameters in order to keep the environment under optimal conditions for the crops. Images of the plants supplies many useful information for evaluating the state of development of the crop. This work presents calculus of a two freedom degree robotic arm, equipped with a video camera for recording desired images of plants. Images will be sent to a computer for its analysis. [ABSTRACT FROM AUTHOR]