Diseño e implementación de algoritmos de cinemática directa e inversa utilizando FPGA`S para controlar el manipulador robótico scara (selective compliant articulated ARM) perteneciente a la Universidad Politécnica Salesiana Campus Sur.

Abstract

This draft grade was designed and implemented an algorithm for manipulating a RHINO Scara robotic arm through the interaction between a Human Machine Interface for designing and an existing hardware. The graphic interface of the software was done through LabVIEW with the serial communication between the computer and the hardware, also the algorithm was implemented on Spartan 3E target pre-programmed with VHDL code in the program provided by Xilinx Project Navigator. It should be noted that this project is for academic purposes to Universidad Politécnica Salesiana Campus Sur, because the robotic arm will serve as a robotic laboratory tool that students use in daily practices, developing an overview of the implemented code works as several applications that can be had.