Sistema para el control inteligente de un robot manipulador
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Abstract
El presente trabajo muestra el desarrollo de una aplicación para el control inteligente de un robot manipulador de seis grados de libertad, a partir de técnicas de visión artificial, para la identificación inteligente de objetos mediante reconocimiento de patrones utilizando redes neuronales artificiales. Se implementó el método de segmentación de imágenes basado en el crecimiento de regiones por agrupación de pixeles, para la detección de los objetos. Para resolver el problema cinemático inverso del robot, fue desarrollado un modelo matemático apropiado basado en un método trigonométrico alternativo. El sistema fue probado de forma satisfactoria, identificando diferentes tipos de objetos con un alto porcentaje de certeza y determinando su ubicación en el área de trabajo del robot.
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