Control de robots mediante Rasperry Pi

Abstract

El proyecto cosiste en investigar la viabilidad de la utilización de un sistema de computación de bajo coste para el control de brazos robots industriales. Contretamente se va a estudiar el uso de una Rasperry Pi para el control de un brazo robot a alto nivel mediante comunicación en red. El objectio es que utilizan diversos algoritmos de Visión por Computador ejecutadonse en la Raspberry Pi, el robot sea capaz de realizar operaciones complejas.

This project consists of determining the feasibility of using a low-cost computer system for the control of industrial robot arms. Specifically, the use of a Rasperry Pi for the control of the UR3 robot arm of Universal Robots at high level will be studied through network communication. For the robot to be able to perform complex operations, a computer vision system has been designed running on the Raspberry Pi. The system can detect several Aruco markers and control the robot in reference to the position, orientation and identity of those markers in space. In addition, part of the vision system has been used to assist in the control of the position of a parallel robot.