{"id":3753,"date":"2015-06-25T22:56:47","date_gmt":"2015-06-26T03:26:47","guid":{"rendered":"http:\/\/blog-j.marcano.net.ve\/?p=3753"},"modified":"2017-05-01T10:40:16","modified_gmt":"2017-05-01T14:40:16","slug":"sistema-de-programacion-de-trayectorias-para-el-manipulador-ma2000","status":"publish","type":"post","link":"https:\/\/blog-j.marcano.net.ve\/index.php\/2015\/06\/25\/sistema-de-programacion-de-trayectorias-para-el-manipulador-ma2000\/","title":{"rendered":"Sistema de programaci\u00f3n de Trayectorias para el Manipulador MA2000"},"content":{"rendered":"<p>From my grade project (2013):<\/p>\n<p>TRAJECTORY PROGRAMING SYSTEM FOR THE MA2000 ROBOT ARM:<\/p>\n<p style=\"text-align: justify;\">The MA2000 its a six degree of freedom robot arm, 3 joints are moved by DC motors. L928 IC drive 3 motors, the 3 motors left were replaced with hobby servos. A control system was implemented using microcontroller DSPIC30F3011, the joints position were read using potentiometers and the microcontroller DAC. A PI controller was implemented using the dsPIC DSP libraries, the compiler was the C30 (academic version) . A PC software was developed using the QT libraries and the QT creator IDE. The software communicates with the controller and allows the dynamic adjustment of the PID controller and its capable of show graphically the dynamic response of each joint, this was programmed using the QWT library, the software allows the programming of \u00abpoint to point\u00bb trajectories using a simple language and allows to record trajectories moving the robot arm by hand.&nbsp; These trajectories are recorded in plain text and can be generated with tools like MATLAB and the Peter Corke robotics toolbox.<\/p>\n<p style=\"text-align: center;\">Wiki page (spanish):<\/p>\n<p style=\"text-align: center;\"><a href=\"Http:\/\/blog-j.marcano.net.ve\/robotwiki\" target=\"_blank\" rel=\"noopener noreferrer\">Http:\/\/blog-j.marcano.net.ve\/robotwiki<\/a><\/p>\n<p style=\"text-align: center;\"><iframe src=\"https:\/\/www.youtube.com\/embed\/dWtT3OS2hAU\" width=\"560\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><br \/>\nJuan Marcano<\/p>\n<p>juan@marcano.net.ve<\/p>\n<p>El MA2000 Es un brazo de 6 grados de libertad accionado por motores DC. Se &nbsp;emplearon drivers L298 para manejar tres de los motores, los tres motores restantes se &nbsp;reemplazaron por motores de modelismo. Se dise\u00f1\u00f3 un sistema de control mediante el microcontrolador dsPIC30F3011 en el cual la la posici\u00f3n de cada articulaci\u00f3n es medida mediante potenci\u00f3metros y se implement\u00f3 &nbsp;un controlador de posici\u00f3n PID independiente para tres articulaciones que utiliza el motor DSP del dsPIC mediante las librer\u00edas incluidas con el compilador C30 en su versi\u00f3n acad\u00e9mica. Se desarroll\u00f3 un software en el PC haciendo uso de las librer\u00edas Qt. El software se comunica con el microcontrolador y permite el ajuste din\u00e1mico del controlador PID y la visualizaci\u00f3n en tiempo real de la respuesta din\u00e1mica de cada articulaci\u00f3n, esta caracter\u00edstica se program\u00f3 utilizando la librer\u00eda QWT, el software tambi\u00e9n permiti\u00f3 la programaci\u00f3n de trayectorias simples punto a punto mediante guiado o aprendizaje. El software es capaz de guardar las trayectorias en archivos de texto plano de tal que forma las trayectorias pueden ser generadas con otras herramientas tales como MATLAB y la Toolbox de rob\u00f3tica de Peter Corke.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>From my grade project (2013): TRAJECTORY PROGRAMING SYSTEM FOR THE MA2000 ROBOT ARM: The MA2000 its a six degree of freedom robot arm, 3 joints are moved by DC motors. L928 IC drive 3 motors, the 3 motors left were replaced with hobby servos. A control system was implemented using microcontroller DSPIC30F3011, the joints position [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[9,81,5],"tags":[125,128,124,129,130,126,127],"_links":{"self":[{"href":"https:\/\/blog-j.marcano.net.ve\/index.php\/wp-json\/wp\/v2\/posts\/3753"}],"collection":[{"href":"https:\/\/blog-j.marcano.net.ve\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/blog-j.marcano.net.ve\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/blog-j.marcano.net.ve\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/blog-j.marcano.net.ve\/index.php\/wp-json\/wp\/v2\/comments?post=3753"}],"version-history":[{"count":22,"href":"https:\/\/blog-j.marcano.net.ve\/index.php\/wp-json\/wp\/v2\/posts\/3753\/revisions"}],"predecessor-version":[{"id":4155,"href":"https:\/\/blog-j.marcano.net.ve\/index.php\/wp-json\/wp\/v2\/posts\/3753\/revisions\/4155"}],"wp:attachment":[{"href":"https:\/\/blog-j.marcano.net.ve\/index.php\/wp-json\/wp\/v2\/media?parent=3753"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/blog-j.marcano.net.ve\/index.php\/wp-json\/wp\/v2\/categories?post=3753"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/blog-j.marcano.net.ve\/index.php\/wp-json\/wp\/v2\/tags?post=3753"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}