Implementación de brazo robótico 6DOF para la organización de productos mediante lectura de código de barras

Abstract

The present degree project encompasses a set of applications of static and dynamic analysis, programming, electrical and electronic circuits, etc. We link this set of disciplines to carry out a project of efficient control in the manipulation of an articulated arm of 6 degrees of freedom. The aforementioned disciplines are a set of knowledge acquired during our student career. The articulated arm justifies its function in providing a solution to the ordering of products, ordering that executes after the reading of their respective bar code. The Dofbot pi manipulator from the Chinese company Yahboom was chosen because it met our needs in terms of sizing, torque, libraries, etc. One of the main reasons for the selection of the manipulator to control was the type of CPU required for its operation, being our case the Raspberry pi our best option. Finally we assembled in the upper part of our manipulator the barcode reader module DYHD M800D and we achieved the execution of the ordering and positioning of the product in its respective cabinet.