Control de variables de movimientos del robot VT6L para pick and place

Abstract

Abstract: This final degree project proposes four mathematical models in which parameters that control the movement variables of the EPSON VT6L robot are involved. The proposals are theoretically based on points given by the robot manual and synthesized in mathematical functions in the models that show the relationship between the parameters of weight, inertia and eccentricity and the maximum values of acceleration, deceleration and speed that the robot configures automatically. The models in turn were put into practice using a pick and place algorithm with a test object, performing compact vision sequences for later analysis and verification.