Modelado, simulación y control de un robot serial de dos eslabones con Matlab / Simulink
Palabras clave:
Robot 2R, control cinemático, robótica serial, robótica educacionalResumen
Se presentan los aspectos relevantes del control cinemático de posición de un robot serial de dos eslabones con juntas rotatorias, soportados en simulación y experimentación con los toolboxes Simulink y SimMechanics de Matlab. El hardware fue construido como trabajo de curso de Ingeniería Mecatrónica, integrando dos eslabones, dos motores Maxon, dos tarjetas servo y un circuito EPOS2. Las pruebas ilustraron la descripción de un círculo, un triángulo y un rectángulo por parte del robot, escogidas por ser formas típicas de tareas cinemáticas de la manufactura o pintura de componentes industriales. En los tres ejemplos el error de juntas (espacio articular) es inferior a tres grados, resultados considerados satisfactorios para un hardware prototipo. Los valores reales de los ángulos obtenidos son utilizados para cuantificar el error en el espacio de la herramienta para el caso de la trayectoria circular. El software desarrollado para controlar los motores Maxon está disponible en internet (Intercambio de Archivos de MathWorks).
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