Diseño de una interfaz de usuario y control cinemático de un brazo robótico de 6 grados de libertad para la planificación de trayectorias en software Matlab y Simulink.

Abstract

In this thesis a user interface was designed with five practices kinematic calculation to determine the displacement should have a robotic arm with GUIs made in Matlab. The movements of the robot arm, the orientation is based on a set of parameters, which are the angles of the joints and the position in space, defined using reference system. These paths are generated as sequences of approximate configurations and analyzing the respective calculation is complex, taking into account that there is a need to create interfaces as a tool for the student, a robotic arm with 6 degrees of freedom and thus create another method teaching to improve student learning in the field of robotics, practicing the direct relationship between robotics and mathematics.