DISEÑO, CONSTRUCCIÓN Y CONTROL DE UN ROBOT SCARA CON ENFOQUE EN TECNOLOGÍA IoT (DESIGN, CONSTRUCTION AND CONTROL OF A SCARA ROBOT WITH AN IOT TECHNOLOGY APPROACH)
Resumen
Este artículo presenta el desarrollo de un sistema de control para un robot SCARA de cuatro grados de libertad. El diseño y la construcción del hardware incluyeron el desarrollo de una placa PCB para el circuito electrónico que controla el robot utilizando sistemas embebidos. Este hardware, combinado con tecnología IoT, permite el control del brazo robótico. Para el desarrollo del software, se implementa un control PID para el control del motor. Sensores de posición magnéticos (AS5600) proporcionaron retroalimentación al sistema, y un bróker local que utiliza el protocolo MQTT facilitó el intercambio continuo de datos para un control preciso de la rotación de las articulaciones. Los movimientos suaves y precisos resultantes demuestran el logro exitoso de los objetivos del proyecto.
Palabras Clave: IoT, MQTT, PID, robot SCARA, sensores magnéticos.
Abstract
This article presents the development of a control system for a four-degree-of-freedom SCARA robot using IoT technology. The hardware design and construction included developing a PCB board for the electronic circuit that controls the robot using embedded systems. This hardware, combined with IoT technology, enables control of the robotic arm. For software development, PID control was implemented for motor control. Magnetic position sensors (AS5600) provided feedback to the system, and a local broker using MQTT protocol facilitated continuous data sharing for precise joint rotation control. The resulting smooth and precise movements demonstrate the successful achievement of the project objectives.
Keywords: IoT, magnetic sensors, MQTT, PID, SCARA robot.
Texto completo:
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