Diseño, construcción y control de un prototipo de brazo robótico antropomórfico para la soldadura por punto de direfentes figuras, mediante el uso de cinemática inversa y visión artificial

Abstract

The technical project consists of the design, construction and control of an anthropomorphic robotic arm prototype with three degrees of freedom for spot welding of metal parts, by obtaining the coordinates of the points of interest using artificial vision. The project uses extensive knowledge of mechanics, electronics and programming to effectively automate the functions performed by the prototype. This work details the design and construction of each of its parts step by step. The study of the inverse kinematic model of the robotic arm is also carried out to calculate the angles of rotation of each servomotor so that the final effector is placed in an established coordinate or point. In addition, the hardware and software used for the general control of the prototype in which Matlab programming is included and the connection of all the electronic components used to establish the logical order of specified operation. Finally, performance tests are performed and the percentage of mistake with which both the artificial vision and the inverse kinematic model works.