s3 s3 Interpolación lineal Interpolación radial, interpolación circular.pptx

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1. Curso: CONTROL DE ROBOTS Semana 3: Interpolación lineal Interpolación radial, interpolación circular Juan C. Cutipa Luque Abril - 2024 - Arequipa

2. INICIO

3. UTILIDAD Robots manipuladores para soporte de las actividades industriales y productivas de la región.

4. Logro Entender el lenguaje KRL para interpolación lineal, interpolación radial, interpolación circular.

5. TRANSFORMACIÓN

6. … Contenido

7. Programación de movimientos básicos Diversos tipos de movimiento

8. Movimiento PTP The robot guides the TCP along the fastest path to the end point. The fastest path is generally not the shortest path and is thus not a straight line. As the motions of the robot axes are rotational, curved paths can be executed faster than straight paths. The exact path of the motion cannot be predicted.

9. Movimiento LIN The robot guides the TCP at a defined velocity along a straight path to the end point.

10. Movimiento CIRC The circular path is defined by a start point, auxiliary point and end point.

11. Movimiento PTP con posicionamiento aproximado The TCP leaves the path that would lead directly to the end point and moves along a faster path. During programming of the motion, the maximum distance from the end point at which the TCP may deviate from its original path is defined. The path of an approximated PTP motion cannot be predicted. It is also not possible to predict on which side of the approximated point the path will run.

12. Movimiento LIN con posicionamiento aproximado The TCP leaves the path that would lead directly to the end point and moves along a shorter path. During programming of the motion, the maximum distance from the end point at which the TCP may deviate from its original path is defined.

13. Movimiento CIRC con posicionamiento aproximado The TCP leaves the path that would lead directly to the end point and moves along a shorter path. During programming of the motion, the maximum distance from the end point at which the TCP may deviate from its original path is defined. The motion passes exactly through the auxiliary point.

14. Control de orientación en LIN, CIRC The TCP leaves the path that would lead directly to the end point and moves along a shorter path. During programming of the motion, the maximum distance from the end point at which the TCP may deviate from its original path is defined. The motion passes exactly through the auxiliary point.

15. Control de orientación en LIN

16. Control de orientación en LIN

17. Control de orientación en LIN

18. Splines: ventajas

19. LIN y CIRC: desventajas

20. Splines

21. Ejemplo de SLIN y SCIRC

22. Orientación del SCIRC

23. Orientación del SCIRC #CONSIDER is suitable if the user wants to specify the re-orientation direction of the TCP without the need for a specific orientation at the auxiliary point. The user can specify the direction using the auxiliary

24. Práctica

25. Práctica Realizar un programa KRL para unir 3 puntos en el plano, con los comandos PTP, LIN, CIRC e interpolaciones. Utilizar interpolación para las trayectorias arriba. Generar los parámetros D-H para la cinemática directa del robot Kuka del laboratorio, comprobar usando Python y Kuka Sim.

26. CONCLUSIONES

27. Conclusiones ¿Recuerdan el Logro? —------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------

28. Referencias [1] John Craig. Introduction to Robotics: Mechanics and Control 4th Edition. Pearson. [2] Kuka System Software 8.3. Issued: 14.01.2015. Versión: KSS 8.3 SI V4

29. GRACIAS