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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.identifier.uri | https://repositorio.ecci.edu.co/handle/001/4018 | |
| 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.format.extent | 112 p. | spa |
| dc.format.mimetype | application/pdf | spa |
| dc.language.iso | spa | spa |
| dc.publisher | Universidad ECCI | spa |
| dc.rights | Derechos Reservados - Universidad ECCI, 2021 | spa |
| 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.publisher.place | Colombia | spa |
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| dc.rights.accessrights | info:eu-repo/semantics/openAccess | 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.type.coar | http://purl.org/coar/resource_type/c_7a1f | spa |
| dc.type.content | Text | spa |
| dc.type.driver | info:eu-repo/semantics/bachelorThesis | spa |
| dc.type.version | info:eu-repo/semantics/updatedVersion | spa |
| dc.description.degreelevel | Pregrado | spa |
| dc.description.degreename | Ingeniero en Mecatrónica | spa |
| dc.description.program | Ingeniería Mecatrónica | spa |
| dc.publisher.faculty | Facultad de Ingenierías | spa |
| dc.type.coarversion | http://purl.org/coar/version/c_970fb48d4fbd8a85 | spa |
| dc.rights.coar | http://purl.org/coar/access_right/c_abf2 | spa |
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