Design, construction and control of a SCARA manipulator with 6 degrees of freedom

The design and implementation of a robot manipulator with 6 degrees of freedom (DOF), which constitutes a physical platform on which a variety of control techniques can be tested and studied, are presented. The robot has mechanical, electronic and control systems, and the intuitive graphic interface...

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Detalles Bibliográficos
Autores: Urrea, Claudio, Cortés, Juan, Pascal, José
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2016
País:México
Institución:UNIVERSIDAD NACIONAL AUTÓNOMA DE MÉXICO
Repositorio:Journal of Applied Research and Technology
Idioma:inglés
OAI Identifier:oai:ojs2.localhost:article/14
Acceso en línea:https://jart.icat.unam.mx/index.php/jart/article/view/14
Access Level:acceso abierto
Palabra clave:Robotic systems
Industrial robots
SCARA
Design
Control systems
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spelling Design, construction and control of a SCARA manipulator with 6 degrees of freedomUrrea, ClaudioCortés, JuanPascal, JoséRobotic systemsIndustrial robotsSCARADesignControl systemsThe design and implementation of a robot manipulator with 6 degrees of freedom (DOF), which constitutes a physical platform on which a variety of control techniques can be tested and studied, are presented. The robot has mechanical, electronic and control systems, and the intuitive graphic interface designed and implemented for it allows the user to easily command this robot and to generate trajectories for it. Materializing this work required the integration of knowledge in electronics, microcontroller programming, MatLab/Simulink programming, control systems, communication between PCs and microcontrollers, mechanics, assembly, etc.Universidad Nacional Autónoma de México2016-12-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionPeer-reviewed Articleapplication/pdfhttps://jart.icat.unam.mx/index.php/jart/article/view/1410.22201/icat.16656423.2016.14.6.14Journal of Applied Research and Technology; Vol. 14 No. 6Journal of Applied Research and Technology; Vol. 14 Núm. 62448-67361665-642310.22201/icat.24486736e.2016.14.6reponame:Journal of Applied Research and Technologyinstname:UNIVERSIDAD NACIONAL AUTÓNOMA DE MÉXICOinstacron:UNAMenghttps://jart.icat.unam.mx/index.php/jart/article/view/14/14Copyright (c) 2018 Journal of Applied Research and Technologyinfo:eu-repo/semantics/openAccessoai:ojs2.localhost:article/142024-08-16T17:54:11Z
dc.title.none.fl_str_mv Design, construction and control of a SCARA manipulator with 6 degrees of freedom
title Design, construction and control of a SCARA manipulator with 6 degrees of freedom
spellingShingle Design, construction and control of a SCARA manipulator with 6 degrees of freedom
Urrea, Claudio
Robotic systems
Industrial robots
SCARA
Design
Control systems
title_short Design, construction and control of a SCARA manipulator with 6 degrees of freedom
title_full Design, construction and control of a SCARA manipulator with 6 degrees of freedom
title_fullStr Design, construction and control of a SCARA manipulator with 6 degrees of freedom
title_full_unstemmed Design, construction and control of a SCARA manipulator with 6 degrees of freedom
title_sort Design, construction and control of a SCARA manipulator with 6 degrees of freedom
dc.creator.none.fl_str_mv Urrea, Claudio
Cortés, Juan
Pascal, José
author Urrea, Claudio
author_facet Urrea, Claudio
Cortés, Juan
Pascal, José
author_role author
author2 Cortés, Juan
Pascal, José
author2_role author
author
dc.subject.none.fl_str_mv Robotic systems
Industrial robots
SCARA
Design
Control systems
topic Robotic systems
Industrial robots
SCARA
Design
Control systems
description The design and implementation of a robot manipulator with 6 degrees of freedom (DOF), which constitutes a physical platform on which a variety of control techniques can be tested and studied, are presented. The robot has mechanical, electronic and control systems, and the intuitive graphic interface designed and implemented for it allows the user to easily command this robot and to generate trajectories for it. Materializing this work required the integration of knowledge in electronics, microcontroller programming, MatLab/Simulink programming, control systems, communication between PCs and microcontrollers, mechanics, assembly, etc.
publishDate 2016
dc.date.none.fl_str_mv 2016-12-01
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
Peer-reviewed Article
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv https://jart.icat.unam.mx/index.php/jart/article/view/14
10.22201/icat.16656423.2016.14.6.14
url https://jart.icat.unam.mx/index.php/jart/article/view/14
identifier_str_mv 10.22201/icat.16656423.2016.14.6.14
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv https://jart.icat.unam.mx/index.php/jart/article/view/14/14
dc.rights.none.fl_str_mv Copyright (c) 2018 Journal of Applied Research and Technology
info:eu-repo/semantics/openAccess
rights_invalid_str_mv Copyright (c) 2018 Journal of Applied Research and Technology
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Universidad Nacional Autónoma de México
publisher.none.fl_str_mv Universidad Nacional Autónoma de México
dc.source.none.fl_str_mv Journal of Applied Research and Technology; Vol. 14 No. 6
Journal of Applied Research and Technology; Vol. 14 Núm. 6
2448-6736
1665-6423
10.22201/icat.24486736e.2016.14.6
reponame:Journal of Applied Research and Technology
instname:UNIVERSIDAD NACIONAL AUTÓNOMA DE MÉXICO
instacron:UNAM
instname_str UNIVERSIDAD NACIONAL AUTÓNOMA DE MÉXICO
instacron_str UNAM
institution UNAM
reponame_str Journal of Applied Research and Technology
collection Journal of Applied Research and Technology
repository.name.fl_str_mv
repository.mail.fl_str_mv
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