Publication: Desarrollo e implementación de la aplicación informática : MIMBOT 5.0
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2010-10
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2010-10-05
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Abstract
El ámbito del presente Proyecto fin de carrera es la robótica y, más concretamente, los robots bípedos articulados y ligeros. Este documento se centra el PASIBOT, un robot de este tipo desarrollado por la Universidad Carlos III de Madrid. Proyectos anteriores profundizaron en la incorporación de actuadores lineales en la citada máquina, motivando el cambio de nombre del robot, pasando a denominarse MIMBOT. Asimismo, se desarrolló un modelo matemático para el robot que permitía determinar el comportamiento cinemático del mismo y se implementó dicho modelo en la herramienta de construcción de interfaces gráficas GUIDE de MATLAB. Este proyecto contempla la modificación del dispositivo estabilizador del Mimbot y amplía las tareas descritas anteriormente; es decir, esta mejora supone el desarrollo de un nuevo modelo matemático y su implementación en una interfaz gráfica a través de Matlab. Además, se añade un básico análisis dinámico de la pierna del robot que pretende servir como base para estudios posteriores más detallados. La aplicación informática final generada se denomina Mimbot 5.0, ya que permite conocer y comparar el comportamiento cinemático y dinámico del robot en cinco fases distintas de desarrollo. El software creado está versionado en inglés y en español y está principalmente orientado a fines docentes.___________________________________________________________________________________________________
The area of the present End of Career Project is the robotics and, more concretely, the biped articulated and light robots. This document centres on the PASIBOT, a robot of this kind developed by the Carlos III University of Madrid. Previous projects penetrated into the incorporation of linear actuators in the mentioned machine, motivating the robot renaming, becoming to be named MIMBOT. Likewise, it was developed a mathematical model for the robot that allowed to determine the cinematic behavior of the same one and that mentioned model was implemented in the graphical interfaces construction tool MATLAB's GUIDE. This project contemplates the modification of the Mimbot stabilizer device and extends the previously described tasks; this means that this improvement supposes the development of a new mathematical model and its implementation in a graphical interface across Matlab. In addition, is added a basic dynamic analysis of the robotic leg that tries to serve as a base for more detailed later studies. The final IT application generated is named Mimbot 5.0, since it allows to know and compare the cinematic and dynamic robot behavior in five different phases of development. The created software is adapted in English and in Spanish and it is principally orientated to educational intentions.
The area of the present End of Career Project is the robotics and, more concretely, the biped articulated and light robots. This document centres on the PASIBOT, a robot of this kind developed by the Carlos III University of Madrid. Previous projects penetrated into the incorporation of linear actuators in the mentioned machine, motivating the robot renaming, becoming to be named MIMBOT. Likewise, it was developed a mathematical model for the robot that allowed to determine the cinematic behavior of the same one and that mentioned model was implemented in the graphical interfaces construction tool MATLAB's GUIDE. This project contemplates the modification of the Mimbot stabilizer device and extends the previously described tasks; this means that this improvement supposes the development of a new mathematical model and its implementation in a graphical interface across Matlab. In addition, is added a basic dynamic analysis of the robotic leg that tries to serve as a base for more detailed later studies. The final IT application generated is named Mimbot 5.0, since it allows to know and compare the cinematic and dynamic robot behavior in five different phases of development. The created software is adapted in English and in Spanish and it is principally orientated to educational intentions.
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Robótica, Desarrollo de software, Mimbot 5.0,