Citas bibligráficas
Fiestas, E., (2017). Control de los movimientos de un robot industrial utilizando un módulo fpga de_soc de altera, una pc y una máquina cnc de bajo coste [Tesis, Universidad Privada Antenor Orrego]. https://hdl.handle.net/20.500.12759/3513
Fiestas, E., Control de los movimientos de un robot industrial utilizando un módulo fpga de_soc de altera, una pc y una máquina cnc de bajo coste [Tesis]. : Universidad Privada Antenor Orrego; 2017. https://hdl.handle.net/20.500.12759/3513
@misc{renati/376945,
title = "Control de los movimientos de un robot industrial utilizando un módulo fpga de_soc de altera, una pc y una máquina cnc de bajo coste",
author = "Fiestas Sorogastúa, Erick M.",
publisher = "Universidad Privada Antenor Orrego",
year = "2017"
}
The present Project is about a methodology for the control of the Cartesian industrial robot’s movements using a SoC FPGA and a PC both integrated with a CNC machine called JOYO – 2020. The steps developed are as follow, first, is realized a structure analysis of the CNC machine using Solidworks software. Second, a kinematics modeling based on the structure analyzed in the previous step, added to this a trajectory planning modeling using a cubic splin interpolator, an algorithm for generating angular velocities and a digital image processing oriented to stablishing trajectories from .jpg or .png images. Third, the simulation of all models of the previous step using Matlab software. Forth, corroborated the usefulness of the mathematical and algorithmic models is necessary the hardware design for stepper motor’s pulses generation, using VHDL for programming the FPGA, and the hardware design for conditioning of end-of-stroke sensors. Fifth, the programming of the SoC FPGA’s hard processor system, using an Ubuntu 14.04.4 operating system and the DS-5 ARM integrated design development with the C language. Sixth, the graphical user interface programming using Visual Studio .Net and Visual Basic language, that is necessary for the communication between the user and de robot. Finally are realize the pertinent tests.
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