Desarrollo Matemático y Aplicación de la Cinemática Inversa por Medio de un Software de Cálculo y Programación para el Robot Mitsubishi RV-M1

Abstract

The present work proposes the solution of the inverse and direct kinematics of a Melfa Mitsubishi RV-M1 manipulator, through an operation interface. It begins with a compilation of the investigation carried out of the robot in which its kinematic solutions were included and the explanation of the manipulation by means of software, from this guide data are taken. In this way the solution was made by means of a calculation and programming program that allows the user to see through a graphic interface the initial and final location of the manipulator. It was necessary to have physical interaction with the machine, to make the measurements and achieve greater precision in the modeling, the SOLIDWORKS® program was used, where the respective parts and restrictions were created, it was determined that it was adequate due to the process of export to MATLAB® r2017a the result was a block diagram where you can add the angular restrictions of the manipulator, in its interface you added different elements that allow manipulation and control by the end user, creating a friendly graphical interface and easy to use. To complete this part we proceeded to incorporate the solution process of the direct and inverse kinematics, where to make the angular variation of any link the result of the Cartesian coordinates of the final tool was obtained. This can be visualized as Px, Py and Pz , the graphical interface serves as support for the understanding of the physical movements that can be achieved. Finally, the results and solutions of the direct and inverse kinematics in the MATLAB® program were verified, by means of the connection and later sending of orders through the aforementioned software, in such a way that the manipulator in its intrinsic language can interpret them, with base to the list of commands mentioned in the user manual. The first step was a technical evaluation and subsequent maintenance to the robot of the mechanical laboratory, being able to correct certain errors. It explains how the connection was made and the protocol used in the link, where no other hardware was used as a translator of the codes sent, the result was a parallel interface where you can visualize how the robot moves in a virtual graphic interface and recreates these movements physically. The manipulator, being old, has a relatively slow response time, even so, it is able to interpret and process the orders sent.