The development of automatic robots is one of the felds of research of fexible manufacturing syst... more The development of automatic robots is one of the felds of research of fexible manufacturing systems (FMS), where the main goal is to carry out tasks in the area of logistics, reducing human intervention, searching automate repetitive tasks or inappropriate for the workers. This article presents the design of an AGV, Automated Guided Vehicle, as part of a FMS and proposes a mechatronics design methodology supported in tools CAD and CAE, in the areas of mechanics, electronics and control, giving rise to the construction of the prototype.
Revista Facultad De Ingenieria-universidad De Antioquia, 2011
The fire fighting monitoring work is a case study where the chaotic control could minimize human,... more The fire fighting monitoring work is a case study where the chaotic control could minimize human, material and environmental injuries. In this paper, we proposed a chaotic control for a mobile robot, in order to do a further inspection in regular spaces, moving it through time with non determinate trajectories. A chaotic nature in the mobile vehicle is added, putting together kinematics with non linear equations such as Arnold and Lorenz, in the same system.
The purpose of this communication is to present a new nonlinear control structure for trajectory ... more The purpose of this communication is to present a new nonlinear control structure for trajectory tracking taking explicitly into account actuators saturation. Here trajectory tracking by a four rotor aircraft is considered. After introducing the flight dynamics equations for the four rotor aircraft, a trajectory tracking control structure based on a two layer non linear inverse approach is adopted and a supervision layer is introduced to take into account the possible actuators saturation.
Abstract—Flexible Manufacturing Systems (FMS), in which the use of Automatically Guided Vehicles ... more Abstract—Flexible Manufacturing Systems (FMS), in which the use of Automatically Guided Vehicles (AGVs) is typical, are a growing trend in many industrial scenarios. A novel, distributed, algorithmic approach to the execution control of activities (work-center oriented) is introduced in this paper, as is, in an integrated way, transportation (AGV oriented) scheduling. The relationship between jobs, modeled as processes, and work centers, modeled as resources, and sinks defines an undirected graph G representing a target Job-shop system. Analogously, the transportation performed by AGVs, also modeled as processes, and their corresponding physical paths, modeled as resources, can also be seen as a dual Job-shop problem. The new approach is based on the Scheduling by Edge Reversal (SER) graph dynamics which, from an initial acyclic orientation over edges, that can be defined via traditional and/or efficient heuristics, let jobs and AGVs proceed in a deadlock-and-starvation-free fashion...
ABSTRACT This paper contains the development of identification with the black box method and PID ... more ABSTRACT This paper contains the development of identification with the black box method and PID control of the lifting process (on the Y axis) of a model Quadrotor GAUI 330X, l The process involves developing a speed control loop angular of the motor and the sensor used was a CNZ1120 with its respective voltagefrequency converter. it is applied nonparametric methods Eyeball (Smith) and the parameters for model identification and PID closed loop control, the main objective of the research is ensure the desired speed at steady state, as a short settling time and an analysis of how to replicate this driver for each other achieve the lift.
This paper proposes applying differential flatness to robot manipulator trajectory tracking. The ... more This paper proposes applying differential flatness to robot manipulator trajectory tracking. The trajectories for each generalised coordinate are proposed as a function and the corresponding input must be found to guarantee tracking. It is shown that the position in the generalised coordinates and their derivatives are flat inputs which, together with a PD controller, could determine (with some restrictions) manipulator movement having minimal deviation throughout its trajectory in both plane movements and in space.
This paper shows the design of fuzzy speed control of trajectories in a mobile robot. This robot ... more This paper shows the design of fuzzy speed control of trajectories in a mobile robot. This robot can move on vertical surfaces of storage tanks for exploration, inspection and cleaning tasks. While the first step involvedactuators (DC motors) identification, the second step presented fuzzy control speed, which can be used for trajectory control. Finally, the genetic algorithm was implemented to obtain optimal trajectory of critical points on the surface where the robot is to follow its predetermined trajectory.
El presente proyecto describe el proceso de diseño y construcción de un sistema AS/RS para implem... more El presente proyecto describe el proceso de diseño y construcción de un sistema AS/RS para implementación didáctica con aplicación de metodologías de diseño de mecanismos mecatrónicos, desde su concepción, desarrollo, evaluación numérica, montaje y puesta en marcha del sistema en su totalidad, para obtener un sistema mecatrónico que puede almacenar y recuperar elementos de un volumen aproximado de 100 cm3 y peso inferior a 1Kg.
The development of automatic robots is one of the felds of research of fexible manufacturing syst... more The development of automatic robots is one of the felds of research of fexible manufacturing systems (FMS), where the main goal is to carry out tasks in the area of logistics, reducing human intervention, searching automate repetitive tasks or inappropriate for the workers. This article presents the design of an AGV, Automated Guided Vehicle, as part of a FMS and proposes a mechatronics design methodology supported in tools CAD and CAE, in the areas of mechanics, electronics and control, giving rise to the construction of the prototype.
Revista Facultad De Ingenieria-universidad De Antioquia, 2011
The fire fighting monitoring work is a case study where the chaotic control could minimize human,... more The fire fighting monitoring work is a case study where the chaotic control could minimize human, material and environmental injuries. In this paper, we proposed a chaotic control for a mobile robot, in order to do a further inspection in regular spaces, moving it through time with non determinate trajectories. A chaotic nature in the mobile vehicle is added, putting together kinematics with non linear equations such as Arnold and Lorenz, in the same system.
The purpose of this communication is to present a new nonlinear control structure for trajectory ... more The purpose of this communication is to present a new nonlinear control structure for trajectory tracking taking explicitly into account actuators saturation. Here trajectory tracking by a four rotor aircraft is considered. After introducing the flight dynamics equations for the four rotor aircraft, a trajectory tracking control structure based on a two layer non linear inverse approach is adopted and a supervision layer is introduced to take into account the possible actuators saturation.
Abstract—Flexible Manufacturing Systems (FMS), in which the use of Automatically Guided Vehicles ... more Abstract—Flexible Manufacturing Systems (FMS), in which the use of Automatically Guided Vehicles (AGVs) is typical, are a growing trend in many industrial scenarios. A novel, distributed, algorithmic approach to the execution control of activities (work-center oriented) is introduced in this paper, as is, in an integrated way, transportation (AGV oriented) scheduling. The relationship between jobs, modeled as processes, and work centers, modeled as resources, and sinks defines an undirected graph G representing a target Job-shop system. Analogously, the transportation performed by AGVs, also modeled as processes, and their corresponding physical paths, modeled as resources, can also be seen as a dual Job-shop problem. The new approach is based on the Scheduling by Edge Reversal (SER) graph dynamics which, from an initial acyclic orientation over edges, that can be defined via traditional and/or efficient heuristics, let jobs and AGVs proceed in a deadlock-and-starvation-free fashion...
ABSTRACT This paper contains the development of identification with the black box method and PID ... more ABSTRACT This paper contains the development of identification with the black box method and PID control of the lifting process (on the Y axis) of a model Quadrotor GAUI 330X, l The process involves developing a speed control loop angular of the motor and the sensor used was a CNZ1120 with its respective voltagefrequency converter. it is applied nonparametric methods Eyeball (Smith) and the parameters for model identification and PID closed loop control, the main objective of the research is ensure the desired speed at steady state, as a short settling time and an analysis of how to replicate this driver for each other achieve the lift.
This paper proposes applying differential flatness to robot manipulator trajectory tracking. The ... more This paper proposes applying differential flatness to robot manipulator trajectory tracking. The trajectories for each generalised coordinate are proposed as a function and the corresponding input must be found to guarantee tracking. It is shown that the position in the generalised coordinates and their derivatives are flat inputs which, together with a PD controller, could determine (with some restrictions) manipulator movement having minimal deviation throughout its trajectory in both plane movements and in space.
This paper shows the design of fuzzy speed control of trajectories in a mobile robot. This robot ... more This paper shows the design of fuzzy speed control of trajectories in a mobile robot. This robot can move on vertical surfaces of storage tanks for exploration, inspection and cleaning tasks. While the first step involvedactuators (DC motors) identification, the second step presented fuzzy control speed, which can be used for trajectory control. Finally, the genetic algorithm was implemented to obtain optimal trajectory of critical points on the surface where the robot is to follow its predetermined trajectory.
El presente proyecto describe el proceso de diseño y construcción de un sistema AS/RS para implem... more El presente proyecto describe el proceso de diseño y construcción de un sistema AS/RS para implementación didáctica con aplicación de metodologías de diseño de mecanismos mecatrónicos, desde su concepción, desarrollo, evaluación numérica, montaje y puesta en marcha del sistema en su totalidad, para obtener un sistema mecatrónico que puede almacenar y recuperar elementos de un volumen aproximado de 100 cm3 y peso inferior a 1Kg.
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