Sistema de control aplicado al seguimiento de trayectoria de un brazo robótico industrial para control de calidad de procesos de corte de materiales

Abstract

Abstract: The control system designed for trajectory tracking in cutting processes materials was implemented with the help of an Epson VT6-A901S industrial robotic arm. He approach to this control system used two techniques: PID (Proportional Integrative Control and Derivative) and SMC (Sliding Mode Control). System development and programming was carried out in the Visual Studio Code software in Python language, due to its ability to integrate robotic hardware. To manage this system, an ASUS ROG STRIX device was used, connected to the robot via Ethernet, guaranteeing effective and timely communication real. In the framework of the tests, an 8W lamp and a USB camera were considered, the lamp facilitated the lighting for the captures made by the camera on the trajectories raised. This system, together with technologies and strategies, represents a solution efficient and sophisticated for quality control in industrial cutting processes materials.