Diseño e implementación de un sistema de control basado en lenguaje ros para un brazo robótico mitsubishi de la universidad distrital francisco josé de caldas

Abstract

In the field of robotics, both in education and industry, we can observe accelerated technological evolution. This highlights the need to keep our equipment, both hardware and software, updated to prevent obsolescence and ensure its continued use for many years. Currently, we can conclude that this equipment is being discarded very quickly. This challenge is even greater considering the national context. A 2022 study found that Colombia has fewer than 500 industrial robotic automation units in use [1], due to a lack of investment and limited automation of this equipment. Furthermore, in 2021, approximately 198,000 tons of waste were generated, and this figure is projected to reach 220,000 tons by 2026, with an annual growth rate of around 2 percent, according to the Ministry of Environment and Sustainable Development. [2] Therefore, this project aims to develop a wireless electronic control interface that integrates a multi-platform API to execute code structures based on the ROS (Robot Operating System) framework language to manage either predefined movements or a work routine that allows students to complete a task as desired. This is all implemented for a MITSUBISHI brand robotic arm located in the automation and control room of the Francisco José de Caldas District University's Faculty of Technology, aligning them with current trends in the field of automation and robotics research.