Control de precisión en manipuladores móviles industriales: desafíos y soluciones

Naroa Núñez Calvo; Gorka Sorrosal; Itziar Cabanes Axpe; Aitziber Mancisidor Barinagarrementeria

doi:10.17979/ja-cea.2024.45.10906

Autores/as

Naroa Núñez Calvo Ikerlan Technology Research Centre, Basque Research and Technology Alliance (BRTA), 20500 Arrasate, Spain https://orcid.org/0009-0009-3757-1716
Gorka Sorrosal Ikerlan Technology Research Centre, Basque Research and Technology Alliance (BRTA), 20500 Arrasate, Spain https://orcid.org/0000-0002-8788-8318
Itziar Cabanes Axpe Bilbao School of Engineering, University of the Basque Country (UPV/EHU), 48013 Bilbao, Spain https://orcid.org/0000-0002-1949-953X
Aitziber Mancisidor Barinagarrementeria Bilbao School of Engineering, University of the Basque Country (UPV/EHU), 48013 Bilbao, Spain https://orcid.org/0000-0002-2178-345X

DOI:

https://doi.org/10.17979/ja-cea.2024.45.10906

Palabras clave:

Robots móviles, Robots manipuladores, Sistemas de control de movimiento, Seguimiento de trayectorias, Posicionamiento dinámico, Tecnología robótica

Resumen

Los avances en la industria y tecnología, así como otros factores que los rodean, han generado nuevas exigencias a la hora de fabricar. Últimamente, ha habido un aumento en el uso de los manipuladores móviles, conformado por un brazo robótico montado sobre un robot móvil, para afrontar estas nuevas necesidades. Sin embargo, aún no alcanzan las precisiones que requieren ciertas aplicaciones industriales de gran exigencia. En este artículo se identifican y presentan las fuentes de error principales que aparecen tanto en los manipuladores móviles como en los elementos que lo conforman. Asimismo, se muestran las diferentes soluciones aportadas en la literatura, definiendo sus limitaciones y planteando los retos que quedan aún por abordar. Por último, se plantea una propuesta de control acoplado para conseguir el aumento de precisión de los manipuladores móviles aunando los rasgos positivos de los sistemas que lo componen: la precisión de un brazo robótico y la movilidad que proporciona una plataforma móvil.

Citas

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Control de precisión en manipuladores móviles industriales

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