Table of Contents Author Guidelines Submit a Manuscript
Journal of Robotics
Volume 2017, Article ID 7508787, 11 pages
https://doi.org/10.1155/2017/7508787
Research Article

Generation and Control of Basic Geometric Trajectories for a Robot Manipulator Using CompactRIO®

1University Corporation of Huila, Corhuila, Neiva, Colombia
2Escuela Colombiana de Ingeniería Julio Garavito, Bogotá D.C., Colombia

Correspondence should be addressed to Ruthber Rodriguez Serrezuela; oc.ude.aliuhroc@zeugirdor.rebhtur

Received 16 September 2017; Accepted 9 November 2017; Published 11 December 2017

Academic Editor: L. Fortuna

Copyright © 2017 Jorge Luis Aroca Trujillo et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. W. Xu, L. Dongsheng, and W. Mingming, “Complete calibration of industrial robot with limited parameters and neural network,” in Proceedings of the IEEE 4th International Symposium on Robotics and Intelligent Sensors (IRIS '16), pp. 103–108, Tokyo, Japan, December 2016.
  2. F. Petit and A. Albu-Schäffer, “Cartesian impedance control for a variable stiffness robot arm,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), pp. 4180–4186, San Francisco, Claif, USA, September 2011.
  3. P. Arena, S. Fazzino, L. Fortuna, and P. Maniscalco, “Game theory and non-linear dynamics: The Parrondo Paradox case study,” Chaos, Solitons & Fractals, vol. 17, no. 2-3, pp. 545–555, 2003. View at Publisher · View at Google Scholar · View at Scopus
  4. M. S. Kazemi and M. J. Dominguez, “Simulation and evaluation of neuro-controllers applied in a SCORBOT,” in Proceedings of the IEEE International Conference on Automatica (ICA-ACCA '16), Curico, Chile, October 2016. View at Publisher · View at Google Scholar · View at Scopus
  5. E. Zurek Varela and R. López Beltrán, “Carga y descarga automática de una fresadora de control numérico utilizando un robot Scorbot-ER 4pc,” Revista Científica Ingeniería y Desarrollo, vol. 7, pp. 113–119, 2011. View at Google Scholar
  6. V. A. Deshpande and P. M. George, “Analytical Solution for Inverse Kinematics of SCORBOT-ER-Vplus Robot,” International Journal of Emerging Technology and Advanced Engineering, vol. 2, no. 3, 2012. View at Google Scholar
  7. A. González Echeverri, Análisis cinemático y dinámico del robot Scorbot-ER Vplus para la nueva configuración en una base deslizante [Bachelor’s thesis], Universidad Tecnológica de Pereira, Pereira, Colombia, 2014.
  8. E. Robotec, Scorbot er-4pc: User's Manual, 1982.
  9. A. Elfasakhany, E. Yanez, K. Baylon, and R. Salgado, “Design and development of a competitive low-cost robot arm with four degrees of freedom,” Modern Mechanical Engineering, vol. 1, no. 2, article 47, 2011. View at Google Scholar
  10. National Instruments, The CompactRIO Platform, endless Capabilities, Unrivaled Performance, 2014, http://www.ni.com/compactrio/.
  11. H. C. Fang, S. K. Ong, and A. Y. C. Nee, “Interactive robot trajectory planning and simulation using augmented reality,” Robotics and Computer-Integrated Manufacturing, vol. 28, no. 2, pp. 227–237, 2012. View at Publisher · View at Google Scholar · View at Scopus
  12. P. Corke, Robotics, Vision and Control, Springer, Berlin, Germany, 2011.
  13. A. Hemami, “Kinematics of two-arm robots,” IEEE Journal on Robotics and Automation, vol. 2, no. 4, pp. 225–228, 1986. View at Publisher · View at Google Scholar · View at Scopus
  14. A. A. Mohammed and M. Sunar, “Kinematics modeling of a 4-DOF robotic arm,” in Proceedings of the International Conference on Control, Automation and Robotics (ICCAR '15), pp. 87–91, Singapore, May 2015. View at Publisher · View at Google Scholar · View at Scopus
  15. J. H. C. Rojas, R. R. Serrezuela, J. A. Q. López, and K. L. R. Perdomo, “LQR hybrid approach control of a robotic arm two degrees of freedom,” International Journal of Applied Engineering Research, vol. 11, no. 17, pp. 9221–9228, 2016. View at Google Scholar · View at Scopus
  16. C. S. G. Lee, “Robot arm kinematics, dynamics, and control,” Computer, vol. 15, no. 12, pp. 62–80, 1982. View at Publisher · View at Google Scholar · View at Scopus
  17. A. Cayley, An Elementary Treatise on Elliptic Functions, Deighton Bell & Co, Cambridge, UK, 1876. View at MathSciNet
  18. T. Barrera, A. Hast, and E. Bengtsson, “Incremental spherical linear interpolation,” in Proceedings of the Annual SIGRAD Conference. Special Theme-Environmental Visualization, pp. 7–10, Linköping University Electronic Press, November 2004.
  19. V. E. Kremer, Quaternions and SLERP, University of Saarbrucken, Department for Computer Science Seminar Character Animation, Saarbrücken, German, 2008.
  20. J. S. Ahn, W. J. Chung, and S. S. Park, Application of Quaternion Interpolation (SLERP) to the Orientation Control of 6-Axis Articulated Robot using LabVIEW and RecurDyn.
  21. K. Shoemake, “Animating rotation with quaternion curves,” in Proceedings of the 12th Annual Conference on Computer Graphics and Interactive Techniques (SIGGRAPH '85), pp. 245–254, San Francisco, Calif, USA, July 1985. View at Publisher · View at Google Scholar · View at Scopus
  22. R. R. Kumar and P. Chand, “Inverse kinematics solution for trajectory tracking using artificial neural networks for SCORBOT ER-4u,” in Proceedings of the 6th International Conference on Automation, Robotics and Applications (ICARA '15), pp. 364–369, Queenstown, New Zealand, February 2015. View at Publisher · View at Google Scholar · View at Scopus
  23. R. R. Serrezuela, A. F. C. Chavarro, M. A. T. Cardozo, A. L. Toquica, and L. F. O. Martinez, Kinematic modelling of a robotic arm manipulator using matlab, 2006.
  24. Y. Angal and A. Gade, “LabVIEW controlled robot for object handling using NI myRIO,” in Proceedings of the IEEE International Conference on Advances in Electronics, Communication and Computer Technology (ICAECCT '16), Pune, India, December 2016.
  25. M. M. Ali, H. Liu, N. Stoll, and K. Thurow, “Kinematic analysis of 6-DOF arms for H20 mobile robots and labware manipulation for transportation in life science labs,” Journal of Automation Mobile Robotics and Intelligent Systems, vol. 10, no. 4, pp. 40–52, 2016. View at Google Scholar