Simulación de Plataformas Robóticas de Movimiento para Aplicaciones de Realidad Virtual Mediante Filtros Digitales

  1. Casas, Sergio
  2. Portalés, Cristina
  3. Rueda, Silvia
  4. Fernández, Marcos
Revista:
Revista iberoamericana de automática e informática industrial ( RIAI )

ISSN: 1697-7920

Año de publicación: 2017

Volumen: 14

Número: 4

Páginas: 455-466

Tipo: Artículo

DOI: 10.1016/J.RIAI.2017.07.001 DIALNET GOOGLE SCHOLAR lock_openAcceso abierto editor

Otras publicaciones en: Revista iberoamericana de automática e informática industrial ( RIAI )

Objetivos de desarrollo sostenible

Resumen

El uso de plataformas robóticas de movimiento en simuladores de vehículos y aplicaciones de Realidad Virtual es relativamente habitual. Sin embargo, el ajuste de los algoritmos que controlan su funcionamiento, denominados algoritmos de washout, no es sencillo y requiere de numerosas pruebas hasta obtener una apropiada fidelidad de movimiento. Disponer de herramientas que permitan simular plataformas de movimiento puede permitir simplificar esta tarea. Es por ello que este trabajo presenta un método para la caracterización y simulación de manipuladores robóticos mediante filtros digitales de segundo orden, sencillo de implementar y ajustar a partir de una caracterización previa. El simulador se construye con el objetivo de permitir la simulación rápida de manipuladores robóticos y se ejemplifica con una plataforma de dos grados de libertad, aunque el método propuesto podría emplearse en otros dispositivos. En las pruebas realizadas se valida la precisión y velocidad de la simulación, concluyéndose que se obtiene una fidelidad satisfactoria y una velocidad de simulación elevada que permite emplear el simulador como sustituto del hardware real con algoritmos de washout.

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Fuente de los datos: Dialnet