Mobile Manipulator Robot Control Through Virtual Hardware in the Loop.
This article focuses on the implementation of the Hardware-in-the-Loop technique to evaluate advanced control algorithms to a mobile manipulator robot that comprised of 3DOF anthropomorphic type robotic arm mounted on a unicycle type platform. The implementation of HIL includes the use of Unity 3D g...
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| Médium: | article |
| Jazyk: | eng |
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2021
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| On-line přístup: | http://repositorio.espe.edu.ec/handle/21000/25400 |
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Přidat tag | _version_ | 1863372616208744448 |
|---|---|
| author | Jorque Rea, Byron Stalin |
| author2 | Mollocana Jiménez, Jéssica Daniela |
| author2_role | author |
| author_facet | Jorque Rea, Byron Stalin Mollocana Jiménez, Jéssica Daniela |
| author_role | author |
| collection | Repositorio Universidad de las Fuerzas Armadas |
| dc.contributor.none.fl_str_mv | Andaluz Ortiz, Víctor Hugo |
| dc.creator.none.fl_str_mv | Jorque Rea, Byron Stalin Mollocana Jiménez, Jéssica Daniela |
| dc.date.none.fl_str_mv | 2021-08-24T16:58:51Z 2021-08-24T16:58:51Z 2021-07 |
| dc.format.none.fl_str_mv | application/pdf application/pdf |
| dc.identifier.none.fl_str_mv | Jorque Rea, Byron Stalin. Mollocana Jiménez, Jéssica Daniela (2021). Mobile Manipulator Robot Control Through Virtual Hardware in the Loop. Carrera de Ingeniería Electrónica e Instrumentación. Departamento de Eléctrica y Electrónica. Universidad de las Fuerzas Armadas ESPE. Extensión Latacunga. http://repositorio.espe.edu.ec/handle/21000/25400 |
| dc.language.none.fl_str_mv | eng |
| dc.publisher.none.fl_str_mv | Latacunga: Universidad de las Fuerzas Armadas ESPE, 2021 |
| dc.rights.none.fl_str_mv | info:eu-repo/semantics/openAccess |
| dc.source.none.fl_str_mv | reponame:Repositorio Universidad de las Fuerzas Armadas instname:Universidad de las Fuerzas Armadas instacron:ESPE |
| dc.subject.none.fl_str_mv | MANIPULADOR MÓVIL CONTROLADOR DE ALGORITMO CINEMÁTICA DINÁMICA |
| dc.title.none.fl_str_mv | Mobile Manipulator Robot Control Through Virtual Hardware in the Loop. |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/publishedVersion info:eu-repo/semantics/article |
| description | This article focuses on the implementation of the Hardware-in-the-Loop technique to evaluate advanced control algorithms to a mobile manipulator robot that comprised of 3DOF anthropomorphic type robotic arm mounted on a unicycle type platform. The implementation of HIL includes the use of Unity 3D graphic engine for the development of a virtual environment that allows to visualize the execution of the movements of the robot through the implemented control algorithm. In addition, it is considered the kinematic model and dynamic model of the robot that represent the characteristics and restrictions of movement of the mobile manipulator robot. Finally, experimental results achieved through the implementation of the HIL technique are presented, in which the behavior of the robotic system and the evolution of control errors when executing locomotion and object manipulation tasks can be verified. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | ESPE_53d6e4ea0a1926acf0d2d3df746873d9 |
| identifier_str_mv | Jorque Rea, Byron Stalin. Mollocana Jiménez, Jéssica Daniela (2021). Mobile Manipulator Robot Control Through Virtual Hardware in the Loop. Carrera de Ingeniería Electrónica e Instrumentación. Departamento de Eléctrica y Electrónica. Universidad de las Fuerzas Armadas ESPE. Extensión Latacunga. |
| instacron_str | ESPE |
| institution | ESPE |
| instname_str | Universidad de las Fuerzas Armadas |
| language | eng |
| network_acronym_str | ESPE |
| network_name_str | Repositorio Universidad de las Fuerzas Armadas |
| oai_identifier_str | oai:repositorio.espe.edu.ec:21000/25400 |
| publishDate | 2021 |
| publisher.none.fl_str_mv | Latacunga: Universidad de las Fuerzas Armadas ESPE, 2021 |
| reponame_str | Repositorio Universidad de las Fuerzas Armadas |
| repository.mail.fl_str_mv | . |
| repository.name.fl_str_mv | Repositorio Universidad de las Fuerzas Armadas - Universidad de las Fuerzas Armadas |
| repository_id_str | 2042 |
| spelling | Mobile Manipulator Robot Control Through Virtual Hardware in the Loop.Jorque Rea, Byron StalinMollocana Jiménez, Jéssica DanielaMANIPULADOR MÓVILCONTROLADOR DE ALGORITMOCINEMÁTICADINÁMICAThis article focuses on the implementation of the Hardware-in-the-Loop technique to evaluate advanced control algorithms to a mobile manipulator robot that comprised of 3DOF anthropomorphic type robotic arm mounted on a unicycle type platform. The implementation of HIL includes the use of Unity 3D graphic engine for the development of a virtual environment that allows to visualize the execution of the movements of the robot through the implemented control algorithm. In addition, it is considered the kinematic model and dynamic model of the robot that represent the characteristics and restrictions of movement of the mobile manipulator robot. Finally, experimental results achieved through the implementation of the HIL technique are presented, in which the behavior of the robotic system and the evolution of control errors when executing locomotion and object manipulation tasks can be verified.ESPELLatacunga: Universidad de las Fuerzas Armadas ESPE, 2021Andaluz Ortiz, Víctor Hugo2021-08-24T16:58:51Z2021-08-24T16:58:51Z2021-07info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfapplication/pdfJorque Rea, Byron Stalin. Mollocana Jiménez, Jéssica Daniela (2021). Mobile Manipulator Robot Control Through Virtual Hardware in the Loop. Carrera de Ingeniería Electrónica e Instrumentación. Departamento de Eléctrica y Electrónica. Universidad de las Fuerzas Armadas ESPE. Extensión Latacunga.http://repositorio.espe.edu.ec/handle/21000/25400enginfo:eu-repo/semantics/openAccessreponame:Repositorio Universidad de las Fuerzas Armadasinstname:Universidad de las Fuerzas Armadasinstacron:ESPE2024-07-27T11:38:22Zoai:repositorio.espe.edu.ec:21000/25400Institucionalhttps://repositorio.espe.edu.ec/Universidad públicahttps://www.espe.edu.ec/https://repositorio.espe.edu.ec/oai.Ecuador...opendoar:20422026-04-22T15:50:07.092806Repositorio Universidad de las Fuerzas Armadas - Universidad de las Fuerzas Armadastrue |
| spellingShingle | Mobile Manipulator Robot Control Through Virtual Hardware in the Loop. Jorque Rea, Byron Stalin MANIPULADOR MÓVIL CONTROLADOR DE ALGORITMO CINEMÁTICA DINÁMICA |
| status_str | publishedVersion |
| title | Mobile Manipulator Robot Control Through Virtual Hardware in the Loop. |
| title_full | Mobile Manipulator Robot Control Through Virtual Hardware in the Loop. |
| title_fullStr | Mobile Manipulator Robot Control Through Virtual Hardware in the Loop. |
| title_full_unstemmed | Mobile Manipulator Robot Control Through Virtual Hardware in the Loop. |
| title_short | Mobile Manipulator Robot Control Through Virtual Hardware in the Loop. |
| title_sort | Mobile Manipulator Robot Control Through Virtual Hardware in the Loop. |
| topic | MANIPULADOR MÓVIL CONTROLADOR DE ALGORITMO CINEMÁTICA DINÁMICA |
| url | http://repositorio.espe.edu.ec/handle/21000/25400 |