Diseño y construcción de un control inalámbrico para el robot UR10 a través de una IMU de 9DOF y visión de máquina

Beltrán Cicery, Henry Esteban

Publicación:
Diseño y construcción de un control inalámbrico para el robot UR10 a través de una IMU de 9DOF y visión de máquina

dc.contributor.advisor	Barrera, Fabian
dc.contributor.author	Beltrán Cicery, Henry Esteban
dc.date.accessioned	2024-05-04T16:29:26Z
dc.date.available	2024-05-04T16:29:26Z
dc.date.issued	2021
dc.description.abstract	Para el desarrollo del presente proyecto se tuvieron en cuenta cuatro etapas, en la primera se realizó la adquisición y procesamiento de datos relacionados con aceleraciones lineales y velocidades angulares de una MPU 9250 a través del microcontrolador STM32F401. En segundo lugar, se implementó diferentes filtros para señales variantes e invariantes en el tiempo, como lo son filtros digitales, filtros complementarios o filtros de Kalman, con el fin de eliminar el ruido presente del sensor MPU9250. En la tercera etapa se utiliza Python como lenguaje base para comunicar el entorno virtual de Coppelia SIM y manipular el modelo tridimensional de un Robot UR10, donde se utilizan los datos provenientes de la unidad de medida inercial. Por último, la ubicación del TCP (Tool Center Point) en el entorno virtual se complementa con algoritmos de visión de máquina y procesamiento de imagen de la librería OpenCV.	spa
dc.description.degreelevel	Pregrado	spa
dc.description.degreename	Ingeniero en Mecatrónica	spa
dc.description.program	Ingeniería Mecatrónica	spa
dc.format.extent	112 p.	spa
dc.format.mimetype	application/pdf	spa
dc.identifier.uri	https://repositorio.ecci.edu.co/handle/001/4018
dc.language.iso	spa	spa
dc.publisher	Universidad ECCI	spa
dc.publisher.faculty	Facultad de Ingenierías	spa
dc.publisher.place	Colombia	spa
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dc.rights	Derechos Reservados - Universidad ECCI, 2021	spa
dc.rights.accessrights	info:eu-repo/semantics/openAccess	spa
dc.rights.coar	http://purl.org/coar/access_right/c_abf2	spa
dc.subject.proposal	Control	spa
dc.subject.proposal	Datos	spa
dc.subject.proposal	Espacio	spa
dc.subject.proposal	Inalámbrico	spa
dc.subject.proposal	Robot Manipulador	spa
dc.subject.proposal	Control	eng
dc.subject.proposal	Data	eng
dc.subject.proposal	Space	eng
dc.subject.proposal	Wireless	eng
dc.subject.proposal	Robot Manipulator	eng
dc.title	Diseño y construcción de un control inalámbrico para el robot UR10 a través de una IMU de 9DOF y visión de máquina	spa
dc.type	Trabajo de grado - Pregrado	spa
dc.type.coar	http://purl.org/coar/resource_type/c_7a1f	spa
dc.type.coarversion	http://purl.org/coar/version/c_970fb48d4fbd8a85	spa
dc.type.content	Text	spa
dc.type.driver	info:eu-repo/semantics/bachelorThesis	spa
dc.type.version	info:eu-repo/semantics/updatedVersion	spa
dspace.entity.type	Publication