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Desarrollo de un ambiente de realidad aumentada para la operación y programación de robots industriales

dc.rights.licenseAtribución-NoComercial-SinDerivadas 4.0 Internacional
dc.contributor.advisorCárdenas Herrera, Pedro Fabián
dc.contributor.advisorOspina Latorre, Diego
dc.contributor.authorGallo Piñeros, Juan Carlos
dc.date.accessioned2020-07-06T14:29:45Z
dc.date.available2020-07-06T14:29:45Z
dc.date.issued2020-05-20
dc.identifier.urihttps://repositorio.unal.edu.co/handle/unal/77738
dc.description.abstractLos métodos tradicionales de programación de robots industriales, muestran diferentes desventajas como el uso de personal altamente calificado y altos tiempos de programación para la generación de trayectorias del robot. Por lo cual es de gran importancia el desarrollo de interfaces de usuario, amigables e intuitivas que mejoren la interacción hombre-máquina y que permitan generar trayectorias de forma natural. Para lograr este objetivo se requiere de herramientas como la Realidad Aumentada, que amplían los sentidos y mejoran la conciencia de la situación, incorporando objetos virtuales que coexisten perfectamente con objetos reales. El presente trabajo de investigación, desarrolla un sistema de programación de robots utilizando realidad aumentada. Este sistema busca incorporar los beneficios de la realidad aumentada, a la tarea de programación de trayectorias en robots industriales. Por consiguiente, se realiza la revisión del estado del arte, en cuanto a la utilización de la realidad aumentada en el área de la robótica, de igual forma se presenta la arquitectura general del sistema, el diseño de la interfaz de usuario y su respectiva comunicación con el robot. Para la realización de pruebas y validación del sistema propuesto, se realizan ensayos con el robot ABB IRB 140, mostrando como resultado un bajo porcentaje de error, entre las posiciones programadas y las ejecutadas, al igual que un menor esfuerzo de programación.
dc.description.abstractThe traditional methods of programming industrial robots, show different disadvantages such as the use of highly qualified personnel and high programming times for the generation of robot trajectories. Therefore, the development of friendly and intuitive user interface, that improve human-machine interaction and that allow to generate trajectories in a natural way is of great importance. To achieve this objective, tools such as Augmented Reality are required, which broaden the senses and improve the awareness of the situation, incorporating virtual objects that coexist perfectly with real objects. This research work develops a robot programming system using augmented reality. This system seeks to incorporate the benefits of augmented reality to the task of programming trajectories in industrial robots. Therefore, the review of the state of the art is carried out, regarding the use of augmented reality in the area of robotics, in the same way the general architecture of the system, the design of the user interface and its respective communication are presented with the robot For testing and validation of the proposed system, tests are performed with the ABB IRB 140 robot, showing as a result a low percentage of error, between the programmed and executed positions, as well as a lower programming effort.
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dc.format.mimetypeapplication/pdf
dc.language.isospa
dc.rightsDerechos reservados - Universidad Nacional de Colombia
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subject.ddc620 - Ingeniería y operaciones afines
dc.titleDesarrollo de un ambiente de realidad aumentada para la operación y programación de robots industriales
dc.typeOtro
dc.rights.spaAcceso abierto
dc.type.driverinfo:eu-repo/semantics/other
dc.type.versioninfo:eu-repo/semantics/acceptedVersion
dc.publisher.programBogotá - Ingeniería - Maestría en Ingeniería - Automatización Industrial
dc.contributor.researchgroupUNROBOT-Grupo de Plataformas Robóticas
dc.description.degreelevelMaestría
dc.publisher.branchUniversidad Nacional de Colombia - Sede Bogotá
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dc.rights.accessrightsinfo:eu-repo/semantics/openAccess
dc.subject.proposalRealidad aumentada
dc.subject.proposalAugmented reality
dc.subject.proposalprogramación de robots
dc.subject.proposalRobot programming
dc.subject.proposalHuman-robot interface
dc.subject.proposalInterfaz hombre-máquina
dc.type.coarhttp://purl.org/coar/resource_type/c_1843
dc.type.coarversionhttp://purl.org/coar/version/c_ab4af688f83e57aa
dc.type.contentText
oaire.accessrightshttp://purl.org/coar/access_right/c_abf2


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Atribución-NoComercial-SinDerivadas 4.0 InternacionalEsta obra está bajo licencia internacional Creative Commons Reconocimiento-NoComercial 4.0.Este documento ha sido depositado por parte de el(los) autor(es) bajo la siguiente constancia de depósito