Posicionamiento de un robot de 3 grados de libertad con actuadores neumáticos

Autores/as

  • Marco Antonio Cabrera Rufino Universidad Autónoma de Querétaro, Facultad de Ingeniería
  • Juan Manuel Ramos-Arreguin Universidad Autónoma de Querétaro, Facultad de Ingeniería
  • Saúl Toval-Arriaga Universidad Autónoma de Querétaro, Facultad de Ingeniería
  • Efren Gorrostieta-Hurtado Universidad Autónoma de Querétaro, Facultad de Ingeniería
  • Marco Antonio Aceves-Fernandez Universidad Autónoma de Querétaro, Facultad de Ingeniería

DOI:

https://doi.org/10.30973/progmat/2021.13.2/2

Palabras clave:

Brazo manipulador neumático, control difuso, actuadores neumático, control inteligente, algoritmo neurodifuso

Resumen

El interés por el uso de actuadores neumáticos se ha vuelto cada vez más importante, especialmente debido a los beneficios de emplear energías limpias. Existen relacionados con este artículo, algunos hechos fuera del país donde se innova en métodos de control, pero solo en aplicaciones específicas, y otros elaborados dentro del país donde se incrementa la complejidad del sistema y control. En este trabajo se prueba la dificultad de un brazo robótico genérico de tres grados de libertad (DoF), se busca el método más eficiente de reproducir el posicionamiento del efector final (una pinza) de una forma precisa. Además, la meta de este proyecto es de crear un algoritmo capaz de ser ajustado a cualquier sistema robótico multipropósito con actuadores neumáticos de tres grados de libertad. Se pretende obtener resultados similares o mejores que proyectos anteriores, los resultados preliminares muestran que la combinación de control neuronal, difuso, o incluso clásico puede obtener los resultados estimados, siendo los dos primeros muy flexibles para desarrollar un diseño original y efectivo de control.

Biografía del autor/a

Marco Antonio Cabrera Rufino, Universidad Autónoma de Querétaro, Facultad de Ingeniería

He is an Electronic Engineer graduated from the Autonomous Metropolitan University (UAM) in the Azcapotzalco unit. He’s thesis project was "Electronic interference fringes counter for the measurement of nanometric displacements"; at the Institute of Applied Sciences and Technology (CCADET) of the National Autonomous University of Mexico (UNAM). Between 2016 and 2018 he worked in Querétaro and Guanajuato in several integrators focused on the industry like INNOVA and AC Systems; carrying out projects for companies such as Neo Aluminio, Cordaflex, Pierburg Rheinmetall Automotive (formerly KSPG), among others. In 2019 he participated in the international aquaponics congress, giving a speech on the detection of fish and plants for biosignals in aquaponic systems. He is currently doing a master of science in instrumentation and control at the Autonomous University of Querétaro (UAQ), Campus CU.

Juan Manuel Ramos-Arreguin, Universidad Autónoma de Querétaro, Facultad de Ingeniería

He has a Ph.D. in Science and Technology with a specialty in Mechatronics at the Center for Engineering and Industrial Development. He has a Master's Degree in Electrical Engineering with an option in Instrumentation and Digital Systems and Communications and Electronics Engineering at the University of Guanajuato. He was President of the Mexican Association of Mechatronics from 2013 to 2016. He belongs to the SNI at level I. He has recognition of the PRODEP profile. As of 2017 he is Senior Member at the IEEE. He is a full-time professor at the Autonomous University of Querétaro, in the Faculty of Engineering.

Saúl Toval-Arriaga, Universidad Autónoma de Querétaro, Facultad de Ingeniería

He obtained his B.Sc. in Electronics Engineering at the Instituto Tecnológico de Querétaro, his M. Sc. in Mechatronics at the University of Siegen, Germany, and his Dr. rer. hum. biol. (doctor of science in human biology) at the University of Erlangen-Nuremberg, Germany. He is currently full professor at the Universidad Autónoma de Querétaro. His research interests include automatic illness diagnosis, surgical robotics and machine learning applications.

Efren Gorrostieta-Hurtado, Universidad Autónoma de Querétaro, Facultad de Ingeniería

Doctorate in Engineering with specialization in Mechatronics, He has a Master of Science and Technology with specialization in automation and control, Graduated in 1992 from Technological Institute of Higher Studies of the West (ITESO) Guadalajara Jalisco Mexico, with an Electronics Engineer with a specialty in Control and Biomedical Engineering. He has worked as a professor at the technological institute of higher studies in the West in the area of control, at the national technological institute in the Morelia and Queretaro units, where he worked as a professor, coordinator and head of the postgraduate unit. He also works as a professor at La Salle Bajío University. He is currently a research professor at the Autonomous University of Querétaro in the Faculty of Engineering. He is the author of several articles and editor of books on robotics and automation. The current research interests are in the field Control system mechatronics Robotics and machine learning. He is a founding member of the Mexican Mechatronics Society , currently working as an editor of some books on Robotics and automation.

Marco Antonio Aceves-Fernandez, Universidad Autónoma de Querétaro, Facultad de Ingeniería

He obtained his B.Sc. (Eng) in Telematics at the Universidad de Colima, Mexico. He obtained both his M.Sc. and Ph.D. at the University of Liverpool, England in the field of Intelligent Systems. He is full professor at the Universidad Autonoma de Queretaro, Mexico. He is being recognized as a member of the National System of Researchers (SNI) since 2009. He has published more than 80 research papers as well as a number of book chapters and congress papers. He has contributed in more than 20 funded research projects both academic and industrial in the area of artificial intelligence ranging from environmental, biomedical, automotive, aviation, consumer, robotics, among other applications. He is also honorary president at the Mexican Association of Embedded Systems (AMESE), a senior member of the IEEE and a board member for many Institutions and Associations. His research interests include Intelligent and Embedded Systems.

Citas

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Publicado

04-06-2021

Cómo citar

Cabrera Rufino, M. A., Ramos-Arreguin, J. M., Toval-Arriaga, S., Gorrostieta-Hurtado, E., & Aceves-Fernandez, M. A. (2021). Posicionamiento de un robot de 3 grados de libertad con actuadores neumáticos. Programación matemática Y Software, 13(2), 13–24. https://doi.org/10.30973/progmat/2021.13.2/2

Número

Vol. 13 Núm. 2 (2021): Junio de 2021

Sección

Artículos

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Derechos de autor 2021 Programación Matemática y Software

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