robot de 5 grados de libertad

DEPART DEPARTAMENTO AMENTO DE ELECTRICA Y ELECTRONICA ELECTRO NICA

CARRERA DE ELECTRONICA EN AUTOMATIZACION Y CONTROL

NIVEL: 8vo

ASIGNATURA: ROBOTICA INDUSTRIAL

TEMA: PARÁMETORS PARA LA ATOMATIZACIÓN DE UN BRAZO MANIPULADOR

Profesor: Ing. Andrés Arcn!"#s INTEGRANTES • • • •

B$% C&nd' C$rdn"s Andr" Sgov&" Ed&son (r"nc&sco )&%c"*no

+,-/-+0/ 1 S"ngo#23*

FECHA - CIUDAD

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2

Imágenes I#3s!r"c&5n 0Dscr&7c&5n d# 7rocso..........................................................................................., I#3s!r"c&5n +D&"gr"4" d #o23s d# 7rocso............................................................................./ I#3s!r"c&5n 6T&7o d roo! " 3s"r..................................................................................................; I#3s!r"c&5n ,Br"%o roo! AL/A....................................................................................................8 I#3s!r"c&5n /R#"c&5n d# 7o!nc&o4!ro &n!rno d 3n srvo4o!or.............................................= I#3s!r"c&5n
1. Tema 3

P"r$4!ros 7"r" #" "3!o4"!&%"c&5n d 3n r"%o 4"n&73#"dor

2. Inro!"##$%n E# 3so d roo!s n #" &nd3s!r&" ' $r"s #"or"#s "n ds7r!"do 3n n3vo "#%" n c3"n!o " 7rod3cc&5n ' sg3r&d"d. L" c#"s&:&c"c&5n d #4n!os n odg"s o $r"s d 4"#"9 "n !n&do 43c" d&:&c3#!"d 7or d&:rn!s 7ro#4"s '" s" 7or 7"r! d# 3s3"r&o 23 #os o7r" o #" 4"#" org"n&%"c&5n n #" 47rs". L" c#"s&:&c"c&5n d 7&%"s r7rsn!" !"r"s !d&os"s ' r7!&!&v"s 7"r" # o7r"r&o d "23* #" "3!o4"!&%"c&5n d d&co 7rocso

&. P'aneam$eno !e' (ro)'ema L"s n3v"s !cno#og*"s "n ##v"do " #"s &nd3s!r&"s " "do7!"r o!r"s :or4"s d !r""9o ' 7rod3cc&5n 3n" d s!"s s #" "3!o4"!&%"c&5n. Lo 23 7r!nd # roo! s #&4&n"r #"s !"r"s :or%"d"s ' r7!&!&v"s "# o7r"r&o 73s!o 23 " gr"n sc"#" s nc"rg"r*" d #" 4"n&73#"c&5n d gr"nd 7sos 7or #o 23 r"#&%"r$ #" c#"s&:&c"c&5n d #4n!os n odg"s o $r"s d 4"#"9 "n !n&do 43c" d&:&c3#!"d 7or d&:rn!s 7ro#4"s '" s" 7or 7"r! d# 3s3"r&o 23 #os o7r" o #" 4"#" org"n&%"c&5n n #" 47rs".

*. +),e$os *.1.+),e$o enera' A3!o4"!&%"r ' con!ro#"r 3n roo! d&d$c!&co "n!ro7o45r:&co 23 c347#" con #" :3nc&5n d s#cc&on"r o9!os sgFn s3 "#!3r" ' !r"ns7or!"r#os " 3n #3g"r 7rs!"#c&do ' !r"ns7or!"r#os " 3n #3g"r 7rs!"#c&do. *.2. +),e$os es(e#/f$#os D!r4&n"r #os snsors "c!3"dors ' # con!ro# 23 &n!rvndr$n n "3!o4"!&%"c&5n d 3n roo! 4"n&73#"dor c#"s&:&c"dor d o9!os. R"#&%"r 3n con!ro# PID n #" "s d# 4o!or con #" :&n"#&d"d d !nr 3n v"#or 7rc&so n # r"ngo d g&ro d:&n&do. D!r4&n"r #os v"#ors d g&ro 23 r"#&%"r$ c"d" srvo 4o!or n !od"s #"s !r"'c!or&"s d 4ov&4&n!os r23r&dos. D!r4&n"r #" corrc!" co43n&c"c&5n n!r #os d&s7os&!&vos " 3!&#&%"r 7"r" s3 corrc!o :3nc&on"4&n!o. D!r4&n"r #"s c"r"c!r*s!&c"s d# roo! " 3!&#&%"r "s* co4o #" 7os&# 7#"n!" ' #5g&c" d 7rogr"4"c&5n •

•

0. Desarro''o 0.1. Des#r$(#$%n !e' (ro#eso E# 7rocso cons&s! n 3&c"r d :or4" 4"n3"# c"d" 3n" d #"s 7&%"s " 4d&r sor 3n" "nd" !r"s7or!"dor" s!"s sr$n sns"d"s 4d&"n! !rs sensores %($#os #os 23 d!r4&n"r"n #" 7os&c&5n n #" c3"# s d 3&c"r c"d" 3n" d #"s 7&%"s 7or s3 !"4">o '" s" s!"s gr"nds 4d&"n"s o 723>"s ' con #" "'3d" d 3n 4"n&73#"dor ro5!&co 7odr !o4"r #" 7&%" 4d&d" ' 3&c"r#" n s3 rs7c!&vo con!ndor.

0.2. D$arama !e )'o"es !e' (ro#eso Piezas pequeñas Piezas medianasPiezas grandes

4 Ilustración 1Descripción del proceso

Ilustración 2Diagrama de bloques del proceso

Los snsors GS0 S+ S6H r7rsn!"n #os snsors 57!&cos 23 s nc"rg"r$n d d!r4&n"r # !"4">o d# o9!o " s#cc&on"r S, sr$ # g&rosco7&o d&co snsor 7rovr$ #os d"!os ncs"r&os 7"r" 7odr r"#&%"r 3n con!ro# PID. S d&s7on d dos !"r9!"s #c!r5n&c"s #" !"r9!" SSC?6+ s nc"rg" d r"#&%"r #" !"7" d 7o!nc&" 7"r" # "cc&on"4&n!o d #os srvos 4&n!r"s 23 #" !"r9 Ard3&no s nc"rg"r$ d r"#&%"r # con!ro# d 4ov&4&n!os d# roo!.

0.&. D$arama !e f'",o !e' (ro#eso

5

6

0.*. T$(o !e ro)o a "sar

Ro)o an"'ar o anro(om%rf$#o T&n s3s !rs 7r&nc&7"#s "r!&c3#"c&ons d !&7o R G' !"4&én #"s rs!"n!sH con #o c3"# 47#" #"s coordn"d"s "ng3#"rs 7"r" d!r4&n"r #"s 7os&c&ons d s3 #4n!o !r4&n"#. S ##"4" "n!ro7o45r:&co 7or 23 s&43#" #os 4ov&4&n!os d 3n r"%o 34"no # 7r&4r 9 s corrs7ond con # c3r7o # sg3ndo con # r"%o # !rcro con # "n!r"%o ' # rs!o d con #" 43>c"?4"no #" 7r&4r" "r!&c3#"c&5n s corrs7ond con # g&ro d #" c&n!3r" #" sg3nd" con # d# o4ro #" !rcr" con # d# codo ' # rs!o s!$n n #" 43>c". Es! roo! 7os gr"n "ccs&&#&d"d ' 4"n&or"&#&d"d s r$7&do ' oc37" 7oco s7"c&o n r#"c&5n "# c"47o d !r""9o 23 ""rc". D&do " s3s c"r"c!r*s!&c"s s # 4od#o 4$s vrs$!&# n "7#&c"c&ons ' s " &473s!o " #os d4$s sor !odo n Cé#3#"s d ("r&c"c&5n (#&#. Co4o &nconvn&n!s s 73dn c&!"r 23 !&n 4nos 7rc&s&5n 23 o!ros 4od#os 23 s& !r""9" con c"rg" ' v#oc&d"ds "#!"s s 7rod3cn &nrc&"s d g&ro d&:*c&#s d co47ns"r ' 23 s3s "r!&c3#"c&ons dn !nr 93go c"s& n3#o 73s 3n 723>o 93go "ng3#"r s "47#&:&c" n 7os&c&5n n :3nc&5n d #" #ong&!3d d# 9 corrs7ond&n! con #o c3"# 73d d"r rrors cons&dr"#s.

Ilustración 3Tipo de robot a usar

0.*.1. Cara#er/s$#as !e' ro)o a "sar AL/A s!$ d&s>"do 7"r" r"#&%"r 4ov&4&n!os 7rc&sos d "#!" r7!&!&v&d"d ' v#oc&d"d # roo! con!&nnJ "s ro!"!or&" 4ov&4&n!os n 7#"no d o4ro codo 43>c" ' 4"no. E# r"%o ro5!&co s!$ co con co47onn!s d "#34&n&o "nod&%"do ngro !3os d "#34&n&o co47onn!s cos con 4o#d d &n'cc&5n ' 7&%"s cor!"d"s con #$sr d "#!" 7rc&s&5n. E# r"%o roo! AL/B :or4" 7"r! d #" n3v" sr& d r"%os ro5!&cos 4!$#&cos 23 s3s!&!3'n " #os "n!&g3os d 7#$s!&co. Es!os r"%os !&nn !odos c"r"c!r*s!&c"s 43' s&4&#"rs n c3"n!o " :3nc&on"#&d"d ' "s7c!o s!"ndo #" 7r&nc&7"# d&:rnc&" n # !"4">o ' #" c"7"c&d"d d c"rg". E# r"%o s!$ :or4"do 7or 7&%"s d "#34&n&o 23 s "co7#"n d&rc!"4n! " #os srvos :or4"ndo 3n" s!r3c!3r" 43' s5#&d" 23 9c3!" #os 4ov&4&n!os con gr"c&" ' so#!3r" ' 3n" r7!&!&v&d"d 43' 3n".

Es(e#$f$#amene se "sara "n ra3o Ro)o AL0A. 7

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o o o o o

o o o o o o

Cara#er/s$#as !e 'os sero moores E# r"%o 3s" #os s&g3&n!s srvo4o!ors 0  @S?;//@B n # o4ro 0  @S?,;/@B n # codo 0  @S?,++ n #" 43>c" 0  @S?,++ n #" "s 0  @S?,++ n # gr&77r

Es(e#$f$#a#$ones No d E9s K ,  r&77r ro!"c&5n n #" 43>c" o7c&on"# D&s!"nc&" n!r "s ' codo K =/+/ 44 D&s!"nc&" n!r codo ' 43>c" K 0+
Ilustración 4Brazo robot AL5A

0.0. A'#an#e !e' (ro4e#o E# roo! 23 s &47#4n!"r$ !ndr$ co4o c3"#&d"d r7rsn!"r " sc"#" 3n 7rocso d c#"s&:&c"c&5n &nd3s!r&"#. D&do " d&c" c"r"c!r*s!&c" # roo! sr$ d&d$c!&co ' 7odr$ sr 4"n&73#"do 7or s!3d&"n!s d &ngn&r*" #c!r5n&c" n "3!o4"!&%"c&5n ' con!ro# o c"rrr"s ":&ns " s!". E# cos!o "7ro&4"do d# 7ro'c!o ord" #os 6/ s! v"#or &nc#3' !odos #os snsors !"r9!"s #c!r5n&c"s :3n!s d "#&4n!"c&5n ' s!r3c!3r" 4c$n&c" d# roo!. E# !&47o d 9c3c&5n d# 7ro'c!o s!$ co47rnd&do n!r #os 4ss d 93n&o ' 93#&o d# 7rsn! ">o. E# d&s>o 7rogr"4"c&5n 4on!"9 s37rv&s&5n d# 7ro'c!o sr$ d&s!r&3&d" n :or4" 93s!" " !odos #os &n!gr"n!s d# gr37o.

0.5. Vo'"men !e Tra)a,o D&do " sr 3n roo! d&d$c!&co s !&n 7rv&s!o 23 # roo! :3nc&on con 3n" :rc3nc&" d s#cc&5n d < vcs 7or 4&n3!o s dc&r c"d" s#cc&5n ' c#"s&:&c"c&5n d :&g3r"s !o4"r$ 0 sg3ndos. E&s!&r$ #" o7c&5n d s#cc&5n d 4odo 4"n3"# ' 4odo "3!o4$!&co s! F#!&4o !r""9"r$ con #"s cond&c&ons "n!s 4nc&on"d"s.

0.6.D$arama !e f'",o 0.7. Ea(a !e sensa!o 8

0.7.1. Sensa!o !e' mo$m$eno !e 'as !$ferenes ar$#"'a#$ones 0.7.1.1. Sensores $nernos. P"r" consg3&r 23 3n roo! r"#&c s3 !"r" con #" "dc3"d" n !"n!o " 7rc&s&5n v#oc&d"d  &n!#&gnc&" sr$ 7rc&so 23 !ng" conoc&4&n!o !"n!o d s3 7ro7&o s!"do co4o d# s!"do d s3 n!orno. L" &n:or4"c&5n r#"c&on"d" con s3 s!"do G:3nd"4n!"#4n! #" 7os&c&5n d s3s "r!&c3#"c&onsH #" cons&g3 con #os dno4&n"dos snsors &n!rnos. Los snsors &n!rnos son snsors &n!gr"dos n #" 7ro7&" s!r3c!3r" 4c$n&c" d# roo! 23 d"n &n:or4"c&5n d# s!"do d# roo!J :3nd"4n!"#4n! d #" 7os&c&5n v#oc&d"d ' "c#r"c&5n d #"s "r!&c3#"c&ons.

Poen#$%mero an"'ar Es 3n !r"nsd3c!or d !&7o "so#3!o ' con s"#&d" d !&7o "n"#5g&co. B$s&c"4n! s 3n" rs&s!nc&" d &#o o&n"do n 3n" 7&s!" d 4"!r&"# cond3c!or d&s!r&3&d" " #o #"rgo d 3n so7or! n :or4" d "rco ' 3n c3rsor so#&d"r&o " 3n 9 d s"#&d". E# 4ov&4&n!o d# 9 "rr"s!r" # c3rsor 7rovoc"ndo c"4&os d rs&s!nc&" n!r és! ' #os !r4os. E#éc!r&c"4n! s c347# #" r#"c&5nJ

Ilustración 5elación del potenciometro interno de un ser!omotor

Es! 7o!nc&"# 73d 4d&rs ' d&s7onr d 3n s&s!4" d c"#&r"do d 4"nr" 23 7or c"d" 7o!nc&"# s o!ng" 7ro7orc&on"#4n! 3n" d&s!"nc&" d ds7#"%"4&n!o. o o

Vena,as: :"c&#&d"d d 3so ' "9o 7rc&o. Desena,as: dn s!"r :&9"dos "# d&s7os&!&vo c3'o ds7#"%"4&n!o s 23&r 4d&r 7rc&s&5n #&4&!"d".

En # srvo 4o!or # 7o!nc&o4!ro s!" conc!"d" "# 9 cn!r"# d# srvo 4o!or. Es! 7o!nc&54!ro 7r4&! " #" c&rc3&!r&" d con!ro# s37rv&s"r # $ng3#o "c!3"# d# srvo 4o!or. S& # 9 s!$ n # $ng3#o corrc!o n!oncs # 4o!or s!$ "7"g"do. S& # c&rc3&!o c23" 23 # $ng3#o no s # corrc!o # 4o!or g&r"r$ n #" d&rcc&5n "dc3"d" "s!" ##g"r "# $ng3#o corrc!o. E# 9 d# srvo s c"7"% d ##g"r "#rddor d #os 08 gr"dos. Nor4"#4n! n "#g3nos ##g" " #os +0 gr"dos 7ro v"r*" sgFn # :"r&c"n!. Un srvo nor4"# s 3s" 7"r" con!ro#"r 3n 4ov&4&n!o "ng3#"r d n!r  ' 08

9

Ilustración "#otenciómetros en un ser!o motor

Ilustración $%bicaión del potenciómetro en el ser!o motor

0.7.2. Sensa!o !e 'a )ase P"r" r"#&%"r # sns"do d #" "s s 3s"r"n g&rosco7&os o g&r54!ros 23 son d&s7os&!&vos 23 4&dn o 4"n!&nn # 4ov&4&n!o d ro!"c&5n. MEMS Gs&s!4"s 4&cro#c!ro4c$n&cosH g&rosco7&os son 723>os snsors d "9o cos!o 7"r" 4d&r #" v#oc&d"d "ng3#"r. L"s 3n&d"ds d v#oc&d"d "ng3#"r s 4&dn n gr"dos 7or sg3ndo G - sH o rvo#3c&ons 7or sg3ndo GRPSH. L" v#oc&d"d "ng3#"r s s&47#4n! 3n" 4d&d" d #" v#oc&d"d d ro!"c&5n. En 3n roo! 3n g&rosco7&o 73d sr 3s"do 7"r" 4d&r #" ro!"c&5n d #" 7os&c&5n d 23&#&r&o ' nv&"r corrcc&ons " 3n 4o!or. E# snsor #g&do s # g&rosco7&o LPY/6AL

Ilustración 8Giroscopio

F"n#$onam$eno S conc!" # snsor "# 4o!or ' s 4&d #" v#oc&d"d "ng3#"r d# 9 % d# g&r5sco7o. Los o!ros dos 9s no son c"7"cs d 4d&r s" v#oc&d"d. S& # 4o!or g&r" 3n" v% 7or sg3ndo . S !ndr*" 3n" v#oc&d"d "ng3#"r d 6< gr"dos 7or sg3ndo . Los g&rosco7&os s 3!&#&%"n " 4n3do n #os o9!os 23 no s!$n g&r"ndo 43' r$7&do d# !odo

− − − − −

Cara#er/s$#as E9sJ + G ZH R"ngoJ 6-s0+-s In!r:"%J An"#5g&c" R23r&4&n!o d nrg*"J +.; ) " 6.< )<.84A C"r"c!r*s!&c"sJ ? (&#!ro 7"so "9o SE(L?TEST PoQr doQn.

10

0.7.&. Sensa!o (ara 'a #'as$f$#a#$%n (or ama8o TCRT0999 Sensor ($#o Ref'e;$o Es! snsor s co47on d 3n 4&sor d LED &n:r"rro9o ' 3n :o!o?!r"ns&s!or rs7ons"# 7or :&#!r"r #" #3% n"!3r"# ' c"7!3r"r s>"#s d &n:r"rro9os. T&n 3n sc3do 23 s7"r" # 4&sor d# rc7!or ' n :3nc&5n d #" r:#c!&v&d"d d #" s37r:&c& s c"7"% d d!c!"r # co#or 23 #" s37r:&c& n c3s!&5n !&n.

Cara#er/s$#as: • • • • •

D&4ns&ons GA  L  A n 44HJ 0.+  /.8  ; D&s!"nc&" d :3nc&on"4&n!o 4$&4oJ +./44 D&s!"nc&" con :&c&nc&" d o7r"c&5n 4"'or 23 +J .+ 44 " 0/ 44 Cons34o d corr&n!J 04A Long&!3d d ond" d# E4&sorJ =/ 44

Ilustración &T'T5((( )ensor *ptico e+e,i!o

L" d&s!"nc&" 7"r" 3n 57!&4o "co7#"4&n!o s d +44 d #" s37r:&c& 3n" "nc3r" d #*n" 4*n&4" 7"r" #" d!cc&5n s d 0.=44. L" d&s!"nc&" d 57!&4o ds47>o s d .+ " </44. P"r" #" d!cc&5n d #*n" &s!n v"r&os !&7os d snsors co4o # CNY;O 7ro 7"r" és! roo! s "r$ 3so d# snsor 47#"do n #" cons!r3cc&5n d #os ncodrs 23 s # TCRT/ d&do " s3s vn!"9"s rs7c!o "# snsor CNY;O s7c&"#4n! 7or #" d&s!"nc&" d 57!&4o "co7#"4&n!o ' #ong&!3d d "#c"nc.

0.<. Cara#er$3a#$%n !e 'a ('ana (#39o d !r""9o 7"r" #" &dn!&:&c"c&5n d s&s!4"s ' # d&s>o d s&s!4"s d con!ro# E# :#39o d !r""9o cons!" d !rs 7"sos 7r&nc&7"#sJ • • •

I47or!"c&5n d #os d"!os d 7r3"s d n!r"d"?s"#&d". Idn!&:&c"c&5n d# 4od#o d 7#"n!" " 7"r!&r d #os d"!os. Uso d# 4od#o d 7#"n!" &dn!&:&c"do 7"r" "93s!"r #"s g"n"nc&"s d# con!ro#"dor PID.

11

L" c"r"c!r&%"c&5n d #" 7#"n!" sr$ r"#&%"d" 4d&"n! # 3so d# S's!4 Idn!&:&c"!&on Too#o d MATLAB. EL S&s!4" d Idn!&:&c"c&5n 23 o:rc MATLAB s 3n" "7#&c"c&5n 7"r" #" cons!r3cc&5n d 4od#os 4"!4$!&cos d s&s!4"s d&n$4&cos " 7"r!&r d d"!os d n!r"d"?s"#&d" 4d&dos. T 7r4&! cr"r ' 3!&#&%"r 4od#os d s&s!4"s d&n$4&cos no :$cn! 4od#"dos " 7"r!&r d 7r&4ros 7r&nc&7&os o s7c&:&c"c&ons. P3d 3!&#&%"r #os d"!os d do4&n&o d !&47o ' do4&n&o d #" :rc3nc&" d n!r"d"?s"#&d" 7"r" &dn!&:&c"r #"s :3nc&ons d !r"ns:rnc&" d !&47o d&scr!o d !&47o con!&n3o ' 4od#os d 7rocsos ' 4od#os d s7"c&o d s!"do. L" rr"4&n!" !"4&én 7ro7orc&on" "#gor&!4os 7"r" #" s!&4"c&5n d 7"r$4!ros n #*n" &ncor7or"d". P"r" #" o!nc&5n d# 4od#o d #" 7#"n!" s !r""9" n #"%o "&r!o co4o 43s!r" #" s&g3&n! :&g3r" J

Ilustración 1()istema en lazo abierto

S !o4"n #c!3r"s d# snsor c"d" n sg3ndos ' s cons!r3' 3n" !"#" n Ec# !n&ndo d s" 4"nr" N nF4ro d 43s!r"s d #" s"#&d" d# s&s!4" "n! 3n sc"#5n d "47#&!3d n n d"!os cr3dos. L" "d23&s&c&5n d d"!os d4or"r$ "s!" 23 #" 7#"n!" s s!"&#&c.

Ilustración 11#rogramación - en Lab.I/0 para adquirir los datos de la planta

12

Ilustración 12I para la adquisición de datos

L" !o4" d d"!os s r"#&%" "s!" 23 # s&s!4" s s!"&#&c #3go d s!o s 7rocd "# 3so d #" rr"4&n!" S's!4 Idn!&:&c"!&on Too# d MATLAB. Pr&4ro s &ngrs" #os vc!ors !"n!o d n!r"d" co4o d s"#&d" o!n&dos con #" 7#"n!" n #"%o "&r!o. E9c3!"r dsd #" vn!"n" 7r&nc&7"# d MATLABJ

Ilustración 13Ident de atlab

S "r #" vn!"n" d# S's!4 Idn!&:&c"!&on Too# dond s s#cc&on"J I47or! D"!" ? T&4 do4"&n d"!". Co4o s v n #" s&g3&n! s!r"c&5n.

13

Ilustración 14Importar los datos obtenidos de la planta

S s#cc&on" #" o7c&5n I47or! ' # 7rogr"4" s nc"rg" d 4od#"r #" 7#"n!" o!n&ndo #o s&g3&n!J

Ilustración 15erramienta ID/T de atlab con la planta cargada

14

Ilustración odelo de de la la planta planta entregado por por )stem )stem Idetication Idetication Tool Tool de de ATLAB ATLAB Ilustración 1" 1$odelo

0.19. Ea(a !e #onro' E# con!ro# d #"s "r!&c3#"c&ons d# roo! s #"s r"#&%"r$ 4d&"n! 3n !&7o d con!ro# 7ro7orc&on"# 7or PM ' n # c"so d #" "s s #" 3!&#&%"r$ 3n con!ro# PID. 0.19.1. Conro' !e (os$#$%n !e 'as ar$#"'a#$ones Los srvo 4o!ors &n!rn"4&n! !&nn 3n s&s!4" d con!ro# 7rs!"#c&do. E# d&s7os&!&vo 3!&#&%" 3n c&rc3&!o d con!ro# 7"r" r"#&%"r #" 3&c"c&5n d# 4o!or n 3n 73n!o cons&s!n! n 3n con!ro#"dor 7ro7orc&on"#. E# 73n!o d r:rnc&" Gs # v"#or d 7os&c&5n ds"d" 7"r" # 4o!orH s &nd&c" 4d&"n! 3n" s>"# d con!ro# c3"dr"d". E# "nco d 73#so d #" s>"# &nd&c" # $ng3#o d 7os&c&5nJ 3n" s>"# con 73#sos 4$s "ncos Gs dc&r d 4"'or d3r"c&5nH 3&c"r$ "# 4o!or n 3n $ng3#o 4"'or ' v&cvrs". In&c&"#4n! 3n "47#&:&c"dor d rror c"#c3#" # v"#or d# rror d 7os&c&5n 23 s #" d&:rnc&" n!r #" r:rnc&" ' #" 7os&c&5n n 23 s nc3n!r" # 4o!or. Un rror d 7os&c&5n 4"'or s&gn&:&c" 23 "' 3n" d&:rnc&" 4"'or n!r # v"#or ds"do ' # &s!n! d 4odo 23 # 4o!or dr$ ro!"r 4$s r$7&do 7"r" "#c"n%"r#o 3no 4nor s&gn&:&c" 23 #" 7os&c&5n d# 4o!or s!$ crc" d #" ds"d" 7or # 3s3"r&o "s* 23 # 4o!or !ndr$ 23 ro!"r 4$s #n!"4n!. S& # srvo s nc3n!r" n #" 7os&c&5n ds"d" # rror sr$ cro ' no "r$ 4ov&4&n!o. P"r" 23 # "47#&:&c"dor d rror 73d" c"#c3#"r # rror d 7os&c&5n d rs!"r dos v"#ors d vo#!"9 "n"#5g&cos. L" s>"# d con!ro# PM s conv&r! n!oncs n 3n v"#or "n"#5g&co d vo#!"9 4d&"n! 3n convr!&dor d "nco d 73#so " vo#!"9. E# v"#or d #" 7os&c&5n d# 4o!or s o!&n 3s"ndo 3n 7o!nc&54!ro d r"#&4n!"c&5n "co7#"do 4c$n&c"4n! " #" c"9" rd3c!or" d# 9 d# 4o!orJ c3"ndo # 4o!or ro! # 7o!nc&54!ro !"4&én #o "r$ v"r&"ndo # vo#!"9 23 s &n!rod3c "# "47#&:&c"dor d rror. Un" v% 23 s " o!n&do # rror d 7os&c&5n és! s "47#&:&c" con 3n" g"n"nc&" ' 7os!r&or4n! s "7#&c" " #os !r4&n"#s d# 4o!or.

15

Ilustración 16Diagrama del circuito de control implementado en un ser!o7 5.10.2.

Conro' !e 'a )ase !e' ro)o

E# con!ro# d #" "s d# roo! s r"#&%"r$ 4d&"n! 3n con!ro# c&n4$!&co n dond s 3s"r$ #" d!r4&n"c&5n d 7os&c&ons rg&s!r"d"s 7rv&"4n! 7or # g&rosco7&o. P"r" s! !&7o d con!ro# s r23&rn 7"r$4!ros d n!r"d" co4o 73n!o d ds!&no # !&7o d !r"'c!or&" # !&47o &nvr!&do d3r"n! # 4ov&4&n!o. E# 4od#o c&n4$!&co s r23r&do 7"r" o!nr #"s coordn"d"s "r!&c3#"rs.

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Cara#er/s$#as E# s&s!4" d con!ro# $s&co s 4ono?"r!&c3#"r No s cons&dr"n #os gr"dos d #&r!"d. Técn&c"s d con!ro# 4$s 3s"d"s # con!ro#"dor PID ' con!ro# "d"7!"!&vo.

Tra4e#or$as ("no a ("no En s! 73n!o #" "s d# roo! vo#3c&on"r$ dsd s3 7os&c&on &n&c&"# " #" :&n"# s&n r"#&%"r cons&dr"c&on d "#g3n" sor # s!"do o vo#3c&on d #"s d4"s "r!&c3#"c&ons. Nor4"#4n! # 4o!or d ##v"r " s3 "r!&c3#"c&on "# 73n!o d ds!&no n # 4nor !&47o 7os&# 73d&ndos d&s!&ng3&r dos c"sos J 4ov&4&n!o " 9 " 9 ' 4ov&4&n!o s&43#!"no d #os 9s. E# 4ov&4&n!o d 9 " 9 23&r dc&r 23 s 4ovr" 3n 9 " #" v% d&do " 23 s! con!ro# so#o s r"#&%"r$ n #" "s

Ilustración 1&Traectorias punto a punto

Conro'

16

Ilustración 2()istema de control

E# n3s!ro s&s!4"J −

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Se Po$nJ Es #" 7os&c&5n d cons&gn" d# s&s!4". E# "#gor&!4o osc&#" n!r !rs 7os&c&ons con # 4o!&vo d vr co4o s co47or!" "n! c"4&os d #" n!r"d". Es dc&r 23 #" 7os&c&5n 23 23r4os s nc3n!r d "c3rdo "# !"4">o d o9!o 4d&do L" r"#&4n!"c&5n o &n:or4"c&5n d c54o s nc3n!r" # s&s!4" s "d23&r&d" 7or # g&rosco7&o. E# "c!3"dor s # srvo 4o!or # c3"# rg3#"4os s3 v#oc&d"d 4d&"n! 4od3#"c&5n d "nco d 73#sos GPMH.

0.19.&. D$s(os$$os !e #onro' 0.19.&.1. Ar!"$no Es 3n" 7#"!":or4" d "rdQ"r #&r "s"d" n 3n" 7#"c" con 3n 4&crocon!ro#"dor ' 3n n!orno d ds"rro##o d&s>"d" 7"r" :"c&#&!"r # 3so d #" #c!r5n&c" n 7ro'c!os 43#!&d&sc&7#&n"rs. Ard3&no 73d !o4"r &n:or4"c&5n d# n!orno " !r"vés d s3s n!r"d"s "n"#5g&c"s ' d&g&!"#s 73d con!ro#"r 3n s&n nF4ro d "c!3"dors. E# 4&crocon!ro#"dor n #" 7#"c" Ard3&no s 7rogr"4" 4d&"n! # #ng3"9 d 7rogr"4"c&5n Ard3&no G"s"do n &r&ngH ' # n!orno d ds"rro##o Ard3&no G"s"do n Procss&ngH. Los 7ro'c!os cos con Ard3&no 73dn 9c3!"rs s&n ncs&d"d d conc!"r " 3n co473!"dor

Ar!"$no re'a#$ona!o a 'os sero moores Ard3&no 7os 3n" #&rr*" 7"r" # con!ro# d s!os 4o!ors n!r #os "co4"ndos 7"r" # con!ro# d #os srvo 4o!ors !n4oJ o m$Sero: Con s!" o7c&5n 7od4os con:&g3r"r # 4o!or o aa#=>($n?m$n?ma;@: S &n&c&"#&%" ' d!r4&n" # 73r!o 23 v"4os " 3s"r  &nd&c"n c3"# s # "nco d 73#so n 4&crosg3ndos 7"r" V ' 7"r" 08V 7or d:c!o /,, ' +,. o m$Sero.r$e><9HJnv&"r4os 3n Ang3#o cons!"n! 7or 947#o =V.

17

Ilustración 21onitoreo de los anc8os de pulso con arduino

0.11.

Ea(a !e (oen#$a 0.11.1. SSC-&2 Sero Conro'er

E# SSC?6+ Gcon!ro#"dor d srvo sr&"#H s 3n 723>o con!ro#"dor d srvo 7rns"4#"do con "#g3nos &47or!"n!s c"r"c!r*s!&c"s. T&n 3n" "#!" rso#3c&5nJ 03S 7"r" 7os&c&on"4&n!os "c!os ' 4ov&4&n!os 43' s3"vs. E# r"ngo s d ./4S " +./4S 7"r" crc" d #os 08. E# con!ro# d 4ov&4&n!o 73d sr con!s!"do &n4d&"!"4n! con!ro#"do v#o%4n! d 4ov&4&n!os rg3#"dos o 3n" co4&n"c&5n. Un Fn&co ro37 Mov 7r4&! 3n" co4&n"c&5n d srvos 47%"ndo ' :&n"#&%"ndo 3n 4ov&4&n!o "# 4&s4o !&47o &nc#3so s& #os srvos !&nn d&s!"nc&"s d&:rn!s d 4ov&4&n!o. Es!" s 3n" 7odros" rr"4&n!" 7"r" 4odos co47#9os d c"4&n"r 7"r" roo!s c"4&n"dors d 4F#!&7#s srvos. L" 7os&c&5n o ds7#"%"4&n!o d #os srvos 73dn sr 7rg3n!"dos 7"r" sr s34&n&s!r"dos "# :d"cW d# os! d# co473!"dor. Inc#3so n #" r"#&%"c&5n d #" sc3nc&" d 3n $7odo d 0+ srvos. Es!o 7r4&! 3n con!ro# co47#!o d !odos #os "s7c!os d 3n s&47# 4odo d "nd"r n !r*7od ro!"!&vo !r"ns:&r&ndo 3nos 7ocos v"#ors dsd # os! d# con!ro#"dor. C3"#23&r s"#&d" 73d sr 3s"d" co4o 3n" s"#&d" d n&v# TTL. @"' c3"!ro n!r"d"s d&g&!"#s 23 son s!$!&c"s o #"!cd G"sg3r"d"sH n!oncs 3s!d no !&n 23 7roc37"rs rs7c!o " #" 7érd&d" d 3n cor!o vn!o. E##os 73dn sr !"4&én 3s"dos co4o n!r"d"s "n$#og"s. @"' !rs !r4&n"#s 7"r" o7c&ons d "#&4n!"c&5n. L" n!r"d" DB= !&n n&v#s r"#s d RS?+6+ 7"r" 3s"r con 3n PC.

18

Ilustración 22Tar9eta ))':32 )er!o 'ontroler7

Es!"s s7c&:&c"c&ons 7r!ncn " #" vrs&5n d :&r4Q"r +.0EJ • • • • • • • • • • • • • • • • •

M&crocon!ro#"dor A!4# ATMEA0<8?+PU EEPROM K +,LC6+P GR23r&do 7"r" +.0PH )#oc&d"d K 0,.;/ M@% Sc3nc&" &n!rn" K @"7odo d0+ Srvos GTr*7od Ro!"!&v"H En!r"d" sr&"# K RS?+6+ o TTL +, =< 68.,W 00/.+W N80 S"#&d"s K 6+ GSrvo o TTLH En!r"d"s K , GEs!$!&c" o L"!c&ng An$#og" o D&g&!"#H R23r&4&n!os d corr&n! K 604A In!r:"c d# PC K DB=( In!r:"c d# 4&crocon!ro#"dor K @"dr 7os!s Con!ro# d srvo K Arr&" d #os 6+ srvos d&rc!"4n! conc!"dos T&7os d Srvo 23 so7or!" K (3!"" o @&!c R"ngo d 4ov&4&n!o d# srvo K 08 Rso#3c&5n d# srvo K 03S .= )#oc&d"d d rso#3c&5n d# srvo K 03S - Sg3ndo Con!ro# d 4ov&4&n!o d# srvo K In4d&"!o Md&do )#o% o s&ncron&%"do. T"4">o d #" !"r9!" K ;//c4  /8c4.

0.11.2. SSC-&2 Sero Se"en#er U$'$4 E# C&rc3&!o d# con!ro#"dor SSC? 6+ Srvo s 73d con!ro#"r :$cn! con #" n3v" 3!&#&d"d d sc3nc&"dor Srvo SSC?6+. Es!$ d&s7on&# co4o 3n" 3!&#&d"d d dsc"rg" gr"!3&!" 23 "c 23 s" :$c&# d 7r&4n!"r con #" ro5!&c" ' "n&4"!r5n&c". Es!" 3!&#&d"d s 3n 947#o d# !&7o d 7rogr"4" 23 s 73d cons!r3&r 3!&#&%"ndo (#oQBo!&cs S!3d&o 23 &nc#3' s! 7rogr"4" co4o 3n 7ro'c!o d d4os!r"c&5n d c5d&go "&r!o. E# 7rogr"4" SSC? 6+ U!&#&d"d S23ncr Srvo # 7r4&! 4ovrs con :"c&#&d"d srvo4o!ors c"#&r"r s3 7os&c&5n "#4"cn"r ' r7rod3c&r sc3nc&"s d 4ov&4&n!o d "c!3"#&%"r # SSC? 6+ :&r4Q"r ' 4$s.

19

Ilustración 23))':32 )er!o )equencer7

0.12. •

A#"a!ores

H$e# HS-600H - Es#a'a $ane Sero

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20

Ilustración 24)er!omotor ): $55B

H$e# HS-*60H - De'";e Hea4 D"4 Sero Informa#$%n Bs$#a Mo!"'a#$%n: Ana'%$#o ,.8)J Tor"e: <0 o%?&n G,6= Wg?c4H <.)J ;< o%?&n G/,; Wg?c4H ,.8)J Ve'o#$!a!: .+6 sc - <  <.)J .08 sc - <  0,0 o% G, gH Peso: Long&!3dJ 68< 44 D$mens$ones: AncoJ 0=< 44 A#!3r"J 6/8 44 6 7o#os T$(o !e moor: P#$s!&co T$(o Ca,a !e #am)$os: Tn&ndo Ind&v&d3"# Roa#$%n  So(ore: •

Ilustración 25 )er!omotor ): 4$5B

H$e# HS-*22 - San!ar! De'";e Sero E# &!c @S,++ s 3n srvo d d&4ns&ons s!$nd"r 7ro con 3n" 4"'or 7o!nc&" gr"c&"s "# co9&n! d s"#&d" 4!$#&co 23 !r"sn:&r !od" #" 7o!nc&" "# 9 d s"#&d" con 7rc&s&5n ' s3"v&d"d. E# srvo s,++ ds!"c" 7or s3s c#n!s c"r"c!r*s!&c"s d cn!r"do ' rso#3c&5n Informa#$%n Bs$#a Mo!"'a#$%n: Tor"e:

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T$(o !e moor: T$(o Ca,a !e #am)$os: Roa#$%n  So(ore:

Ilustración 2" )er!omotor ): 422

A#!3r"J 6<< 44 6 7o#os P#$s!&co Co9&n!

21

0.1&.

A('$#a#$ones en 'a $n!"sr$a

En #" "c!3"#&d"d #os roo!s son 43' 3!&#&%"dos n #" &nd3s!r&" s&ndo 3n #4n!o &nd&s7ns"# n #" 4"'or*" d #os 7rocsos d 4"n3:"c!3r". E# roo! &nd3s!r&"# d&do " s3 n"!3r"#%" 43#!&:3nc&on"# 73d ##v"r " c"o 3n s&n nF4ro d !"r"s 7"r" #o c3"# s ncs"r&o s!"r d&s73s!o " " "d4&!&r c"4&os n # ds"rro##o d# 7rocso 7r&4&!&vo co4o 4od&:&c"c&ons n # d&s>o d 7&%"s s3s!&!3c&5n d s&s!4"s !c 23 :"c&#&!n ' "g"n 7os&# #" &n!rod3cc&5n d# roo!. L" c"rg" ' dsc"rg" d 4"!r&"#s 7"r" s3 c#"s&:&c"c&5n s r"#&%" !r"d&c&on"#4n! " 4"no con # #v"do r&sgo 23 s!o con##v" 7"r" # o7r"r&o "# 23 3n" 723>" d&s!r"cc&5n 73d cos!"r# 3n sr&o "cc&dn!. Es!"s c&rc3ns!"nc&"s 93n!o con #" s37r&or 7rc&s&5n d 7os&c&on"4&n!o 23 73d consg3&r # roo! ' #" c"7"c&d"d d és! d con!ro#"r "3!o4$!&c"4n! # :3nc&on"4&n!o d #" 4$23&n" ' d&s7os&!&vos "3&#&"rs "n co 23 # roo! s" 3n" so#3c&5n vn!"9os" 7"r" s!os 7rocsos. Los roo!s 3s"dos n s!"s !"r"s son 7or #o gnr"# d "9" co47#9&d"d 7rc&s&5n 4d&" nF4ro rd3c&do d gr"dos d #&r!"d ' d con!ro# snc&##o "s!"ndo n oc"s&ons con 4"n&73#"dors sc3nc&"#s. En c3"n!o " #" c"rg" v"r*" 43co 73d&éndos ncs&!"r roo!s con c"7"c&d"d d c"rg" d 7ocos W&#ogr"4os "s!" o!ros 23 73d"n #v"n!"r gr"nds 7sos.

Ilustración 2$Aplicaciones en la industria

A#g3n"s vn!"9"s d #" "3!o4"!&%"r s! !&7o d 7rocsos sonJ •

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0.1*.

Com"n$#a#$%n enre 'os !$s(os$$os 0.1*.1. SSC-&2 a PC RS2&2

22

Es 3n" &n!r:"% 23 ds&gn" 3n" nor4" 7"r" # &n!rc"4&o d 3n" sr& d d"!os &n"r&os n!r d&s7os&!&vos. (3 ds"rro##"d" n #" déc"d" d #os < 7"r" gorn"r #" &n!rcon&5n d !r4&n"#s ' MODEM.

Ilustración 26)232

L" v#oc&d"d d !r"ns4&s&5n 23d" #&4&!"d" 7or # "nco d "nd" 7o!nc&" d s>"# ' r3&do n # cond3c!or d s>"#. L" v#oc&d"d d !r"ns4&s&5n 23d" $s&c"4n! s!"#c&d" 7or # r#o9. S3 4&s&5n s "4&n"r o 43s!r"r con!&n3"4n! #" #*n" 7"r" d!c!"r #" 7rsnc&" o "3snc&" d #os n&v#s d s>"# '" 7rd:&n&dos. E# r#o9 s&ncron&%" "d4$s !odos #os co47onn!s &n!rnos. Los vo#!"9s 7"r" 3n n&v# #5g&co "#!o s!$n n!r ?6) ' ?0/) ' 3n n&v# "9o 6) ' 0/). S&n 4"rgo #os vo#!"9s 4$s 3s"dos son 0+)-?0+) =)-1=). D7nd&ndo d #" v#oc&d"d d !r"ns4&s&5n 47#"d" s 7os&# !nr c"#s d "s!" 0/ 4!ros. L"s )#oc&d"ds 73dn sr d 6 < 0+ +, ,8 ' =< 7s. D&do " 23 #"s co473!"dor"s 4odrn"s no &nc#3'n # 73r!o sr& '" 23 7"r" "7#&c"c&ons &n:or4$!&c"s s cons&dr" oso#!o s ncs"r&o 43#"r 3n 73r!o sr& RS+6+ " 7"r!&r d 3n 73r!o USB 7"r" # &n!rc"4&o d &n:or4"c&5n ' #" PC. Por #o 23 s "c 3so d convr!&dors d USB " RS+6+ &n!gr"dos n 3n c"# o &n co4o "d"7!"dor.

Ilustración 2&%)B a )232

0.1*.2. SSC-&2 a Ar!"$no Con # :&n d con!ro#"r # SSC?6+ " !r"vés d Ard3&no  s d conc!"r # 7&n d !r"ns4&s&5n GTH d #" Ard3&no UNO " #" c#"v&9" d rc7c&5n GRH d #" !&rr" GNDH 23

7"s"dors d #"s dos 93n!"s co4o 43s!r" n # d&"gr"4". D s!" :or4" # "rd3&no nv*" co4"ndos sr& "# con!ro#"dor srvo SSC?6+ 23 " s3 v% con!ro#" #os srvos.

Ilustración 3())':32 a Arduino

0.1&.& Sensor ($#o a Ar!"$no

Ilustración 31)ensor *ptico a Arduino

En # c&rc3&!o #" rs&s!nc&" d R+ s 3n" rs&s!nc&" d X73## 37X. S "sg3r" d 23 #" s"#&d" s!$ n 3n n&v# "#!o c3"ndo # :o!o?!r"ns&s!or no s!$ " cond3c&r s #o 23 s3cd c3"ndo no "' &nc&dnc&" d #3% &n:r"rro9" n é# ' v&!" 3n cor!oc&rc3&!o c3"ndo # :o!o?!r"ns&s!or cond3c. E# "34n!o d# v"#or d 0R n #" :&g3r" s&gn&:&c" "34n!"r #" sns&&#&d"d d# snsor '" 23 sr$ 4$s :$c&# 7onr #" s"#&d" d# :o!o!r"ns&s!or n "9o n&v#. Por # con!r"r&o #" rd3cc&5n d# v"#or rd3c #" sns&&#&d"d d# snsor.

24

Ilustración 32)ensor *ptico a Arduino

0.1&.* M%!"'o LP09&AL a Ar!"$no Es 3n snsor d 4ov&4&n!o MEMS 23 4&d #" v#oc&d"d "ng3#"r " #o #"rgo d #" &nc#&n"c&5n ' or&n!"c&5n d #os 9s con 3n" sc"#" co47#!" d  6  - s. Dos s"#&d"s "n"#5g&c"s d&:rn!s s 7ro7orc&on"n 7"r" "4os 9s.

Ilustración 33ódulo L#;5(3AL a Arduino

Un vo#!"9 rg3#"do n!r +; ' 6.<)DC d sr s34&n&s!r"do " #os 7&ns d "#&4n!"c&5n. Ad4$s !n4os #os c&rc3&!os d :&#!r"do d !od" #" d&s7os&c&5n 7or #o 23 s5#o s !&n 23 conc!"r #"s s"#&d"s d# 45d3#o " #"s n!r"d"s d# "rd3&no. Es! 45d3#o &nc#3' # g&rosco7&o ' !odos #os condns"dors d :&#!r"do ncs"r&"s co4o s 43s!r" n #" :&g3r".

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Ilustración 34ódulo L#;5(3AL

0.10.

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Ilustración 35I

L"s @MI 34"n?4"c&n &n!r:"cs ds!&n"d"s " #" "3!o4"!&%"c&5n &nd3s!r&"# s 73dn c#"s&:&c"r n dos gr37osJ d s37rv&s&5n d 7rocsos G"s"d"s n SCADA S37rv&sor' Con!ro# "nd D"!" Ac23&s&!&onH ' #"s d 4"n9o ' v&s3"#&%"c&5n " n&v# d 4$23&n" G"s"d"s n 7"n#sH. En # 7ro'c!o #" &n!r:"% 34"no 4"23&n" sr$ d 4"n9o ' v&s3"#&%"c&5n d #os 4ov&4&n!os d# roo! s dc&r !ndr$ !rs 7"n!"##"s #" 7r&4r" nos 7r4&!&r$ #g&r # 4odo d :3nc&on"4&n!o d# roo! '" s" "3!o4$!&co o 4"n3"#

26

Ilustración 3" I modo de
En #" 7"n!"##" d# 4odo "3!o4$!&co s vr$ 3n" s&43#"c&5n d #os 4ov&4&n!os d# roo! "# r"#&%"r #" !"r" d c#"s&:&c"c&5n ' "d4$s con!"r" con 3n" #3% d "#r!" 23 &nd&c"r$ # 4"# :3nc&on"4&n!o d# roo! n c"so d 23 #o 3&r".

Ilustración 3$ I modo automatico

L" !rcr" 7"n!"##" sr$ d# 4odo 4"n3"# n #" c3"# # o7r"dor sr$ c"7"% d con!ro#"r #os 4ov&4&n!os d# roo! 4d&"n! &n!rr37!ors.

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Ilustración 36 I modo manual

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29

robot de 5 grados de libertad

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