Sistema de control de mano robótica replicadora de movimientos para manipular sustancias químicas
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RevActaNova.
Abstract
El presente proyecto ayuda al desempeño en laboratorios químicos, con el fin de reducir accidentes laborales y enfermedades a corto y largo plazo. El proceso de realización del robot consta de cuatro partes fundamentales. El sistema mecánico, el sistema electrónico, el sistema de reconocimiento de movimiento de manos y el sistema de control. El objetivo de este proyecto es realizar un sistema de control para el robot replicador de movimientos para manipular sustancias químicas. Por lo tanto, se analizó los movimientos que puede realizar una mano, concluyendo que existen cuatro tipos de sujeción fundamentales. El modelo matemático de cada tipo de agarre se determinó con ayuda del software PIPIMC y Matlab. Por lo tanto, se logró estimar las funciones de transferencia y realizar los cuatro controladores proporcionales - integrales IMC (PI-IMC), a partir de la técnica de control IMC (internal model controller). Finalmente, el controlador fue incluido en el programa principal del robot. De esta manera se mejoró la precisión y tiempo de respuesta del robot.
This project helps performance in chemical laboratories, in order to reduce work accidents and diseases in the short and long term. The process of realization of the robot consists of four fundamental parts. The mechanical system, the electrical system, the hand movement recognition system and the control system. The objective of this project is to make a control system for the robot replicator of movements to manipulate chemicals. Therefore, we analyzed the movements that can be made by a hand, concluding that there are four fundamental types of subjection. The mathematical model of each type of equipment was determined with the help of the PIPIMC and Matlab software. Therefore, the transfer functions are calculated and perform the four proportional - integral IMC controllers (PI-IMC), from the IMC control technique (internal model controller). Finally, the controller was included in the robot's main program. This improved the accuracy and response time of the robot.
This project helps performance in chemical laboratories, in order to reduce work accidents and diseases in the short and long term. The process of realization of the robot consists of four fundamental parts. The mechanical system, the electrical system, the hand movement recognition system and the control system. The objective of this project is to make a control system for the robot replicator of movements to manipulate chemicals. Therefore, we analyzed the movements that can be made by a hand, concluding that there are four fundamental types of subjection. The mathematical model of each type of equipment was determined with the help of the PIPIMC and Matlab software. Therefore, the transfer functions are calculated and perform the four proportional - integral IMC controllers (PI-IMC), from the IMC control technique (internal model controller). Finally, the controller was included in the robot's main program. This improved the accuracy and response time of the robot.
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Vol. 9, No. 1