Modelado cinemático inverso con control de forma de un robot blando mediante algoritmos genéticos

Jorge Francisco García Samartín; Jaime del Cerro; Antonio Barrientos

doi:10.17979/ja-cea.2024.45.10968

Autores/as

Jorge Francisco García Samartín Universidad Politécnica de Madrid
Jaime del Cerro Universidad Politécnica de Madrid https://orcid.org/0000-0003-4893-2571
Antonio Barrientos Universidad Politécnica de Madrid https://orcid.org/0000-0003-1691-3907

DOI:

https://doi.org/10.17979/ja-cea.2024.45.10968

Palabras clave:

Robótica Blanda, Cinemática Robótica, Control basado en datos, Algoritmos evolutivos, Control basado en el conocimiento, Planificación de trayectorias y caminos, Métodos de IA para robótica, Tecnología robótica

Resumen

Uno de los principales problemas que está encontrando la robótica blanda y, en parte, frenando su auge, es la dificultad para modelar con precisión la cinemática inversa de estos manipuladores. Su carácter redundante hace compleja esta tarea y, en multitud de ocasiones, las técnicas de aprendizaje automático precisan de un número de muestras difícilmente alcanzable. Se presenta aquí un algoritmo genético que, a partir del modelo cinemático directo, fácilmente obtenible, logra notables resultados, tanto en términos de precisión como de tiempo. En concreto se ha conseguido, al aplicarlo sobre un robot neumático modular, un error de 0.9 mm con tiempos de ejecución de 12 s. La metodología desarrollada permite, además, gestionar las redundancias y elegir la pose que se desea que el robot adopte, pudiendo recibir como entrada, además de las coordenadas del extremo, la posición deseada de cuantos módulos intermedios se precise. Esto abre la puerta a posibles aplicaciones de interés, como la teleoperación de manipuladores blandos mediante realidad virtual.

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