The utility of a robot manipulator focuses on the ability to locate its end effector in a position with a determined orientation\nfollowing a specified trajectory. For this, algorithms were used in order to generate and control the movements joints of robot in a\nsynchronized way.Thehigh-level languages to programrobots are based on three types of movement: joint interpolation (MOVEJ),\nlinear interpolation (MOVES), and circular arcs (MOVEC), which are used to develop any type of task. In this work, these three\nmovements are implemented in the industrial controller CompactRIO, as part of the reconditioning process of a robot manipulator\nof five degrees of freedom (5 DOF) whose controller was obsolete. As a result, it will have an interface in LabVIEWwhere you can\nview and modify the basic parameters implemented in the industrial controller. In addition, the results of the validation tests of the\njoint positions and the end effector of the manipulator will be found.
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