Implementación de un sistema de control para un brazo robótico mediante la imitación de movimientos del operario

Abstract

The main barriers to automating a specific process that requires the implementation of a robot, are not only the investment in the equipment but the amount of time and the level of qualification of the personnel necessary to program the manipulator. Currently, the direct guide method is implemented to position and orient the robot's joints and gripper, which is an old and inefficient method since it requires many hours of training and the programmer's expertise to perform complex tasks in short times and with as few errors as possible.

Therefore, and considering the well-being of people who have the responsibility of managing and programming this type of technology, the development of a device that allows learning by imitation of movements is proposed, which is capable of capturing kinematic variables of the arms and reproduce them in a prototype industrial robot and thus be able to contribute knowledge in this type of modern technologies that promote the application of this equipment in small and medium-sized companies in the country's manufacturing sector.