Generación de movimientos oceánicos para pruebas sistemáticas con Plataforma Stewart
DOI:
https://doi.org/10.17979/ja-cea.2024.45.10785Palabras clave:
Robótica, Sistemas de control de movimiento, Mecatrónica, Autómatas programables, Robots manipuladoresResumen
En esta investigación se emplea una plataforma Stewart desarrollada por el grupo de investigación con el fin de poder emular condiciones oceánicas para realizar pruebas sistemáticas. Específicamente, se generan los movimientos oceánicos basándose en el espectro de energía de las olas JONSWAP y el modelo armónico simple de la superficie marina derivado del espectro, como superposición de ondas regulares. De esta forma se obtiene una ola irregular. La contribución también incluye la implementación utilizando únicamente los recursos disponibles en un controlador industrial, sin usar software externo. En la fase de resultados, se muestran dos movimientos generados y se comparan con los obtenidos con un sensor MRU y la cinemática directa calculada en el propio controlador industrial. Como trabajo futuro, se plantea expandir la generación a espectros bidimensionales.
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Derechos de autor 2024 Silva-Muñiz, D., Garrido, J., Riveiro, E., Rivera-Andrade, J.
Esta obra está bajo una licencia internacional Creative Commons Atribución-NoComercial-CompartirIgual 4.0.
