Desarrollo de un sistema distribuido bajo la norma IEC-61499 para control de robot Kuka Modelo Youbot.

El presente trabajo investigativo tuvo como finalidad el empleo del estándar IEC-61499 para el desarrollo de un sistema de control distribuido para el control de un robot Kuka modelo YouBot. Este estándar consiste en una arquitectura de referencia para el desarrollo de aplicaciones de control con lógica descentralizada. Está basada en bloques funcionales (FBs) que se definen como la unidad estructural básica de los modelos, tiene un alto nivel de versatilidad para el diseño de sistemas, ya que permite combinar software independiente del hardware utilizado. Para modelar el sistema se utilizó el software 4DIAC-IDE y se crearon bloques funcionales (FBs) para el control de la plataforma omnidireccional, el brazo robótico y el gripper de agarre que en conjunto conforman el robot; posteriormente con la ayuda del programa PuTTy se implementó de manera remota el runtime FORTE el cual fue ejecutado en una PC que se encuentra a bordo del robot Kuka YouBot. Se evidenció en los resultados que la programación mediante FBs ha hecho que estos sean vistos como una herramienta efectiva para la automatización de sistemas flexibles y reconfigurables, obteniendo una efectividad del 98,89% de aciertos en las pruebas estipuladas. Se concluye que el estándar permite controlar el algoritmo mediante eventos, ya que tiene una conexión entre la ejecución del flujo de eventos y flujo de datos, de esta manera se puede establecer prioridades en el orden de ejecución de los bloques funcionales, con lo cual se probó el funcionamiento y las prestaciones que ofrecen este nuevo método de programación y las últimas versiones de software basadas en él disponibles actualmente.The present research work has as a purpose the use of the IEC-61499 standard for the development of a distributed control system for the control of a Kuka model Youbot robot. This standard consists of a reference architecture for the development of control applications with decentralized logic. It is based on functional blocks (FBs) that are defined as the basic structural unit of these models, they have a high level of versatility for the design of systems, since it allows to combine software independent of the hardware used. To model the system, the software was used 4DIAC-IDE and functional blocks (FBs) were created for the control of the omnidirectional platform, the robotic arm and the gripping gripper that together make up the robot, later with the help of the PuttY program the FORTE runtime was remotely implemented. Which was executed on a PC that is on board the robot Kuka YouBot. It was evidenced in the results that the programming by means of FBs has made that these are seen as an effective tool for the automation of flexible and reconfigurable systems, obtaining an effectiveness of 98.89% of correctness in the stipulated tests. It is concluded that the standard allows to control the algorithm through events, since it has a connection between the execution of the flow of events and data flow, in this way you can establish priorities in the order of execution of the functional blocks, which proved the operation and the features that offer This new programming method and the latest software versions based on the currently available

Desarrollo de un sistema distribuido bajo la norma IEC-61499 para control de robot Kuka Modelo Youbot.

El presente trabajo investigativo tuvo como finalidad el empleo del estándar IEC-61499 para el desarrollo de un sistema de control distribuido para el control de un robot Kuka modelo YouBot. Este estándar consiste en una arquitectura de referencia para el desarrollo de aplicaciones de control con lógica descentralizada. Está basada en bloques funcionales (FBs) que se definen como la unidad estructural básica de los modelos, tiene un alto nivel de versatilidad para el diseño de sistemas, ya que permite combinar software independiente del hardware utilizado. Para modelar el sistema se utilizó el software 4DIAC-IDE y se crearon bloques funcionales (FBs) para el control de la plataforma omnidireccional, el brazo robótico y el gripper de agarre que en conjunto conforman el robot; posteriormente con la ayuda del programa PuTTy se implementó de manera remota el runtime FORTE el cual fue ejecutado en una PC que se encuentra a bordo del robot Kuka YouBot. Se evidenció en los resultados que la programación mediante FBs ha hecho que estos sean vistos como una herramienta efectiva para la automatización de sistemas flexibles y reconfigurables, obteniendo una efectividad del 98,89% de aciertos en las pruebas estipuladas. Se concluye que el estándar permite controlar el algoritmo mediante eventos, ya que tiene una conexión entre la ejecución del flujo de eventos y flujo de datos, de esta manera se puede establecer prioridades en el orden de ejecución de los bloques funcionales, con lo cual se probó el funcionamiento y las prestaciones que ofrecen este nuevo método de programación y las últimas versiones de software basadas en él disponibles actualmente.The present research work has as a purpose the use of the IEC-61499 standard for the development of a distributed control system for the control of a Kuka model Youbot robot. This standard consists of a reference architecture for the development of control applications with decentralized logic. It is based on functional blocks (FBs) that are defined as the basic structural unit of these models, they have a high level of versatility for the design of systems, since it allows to combine software independent of the hardware used. To model the system, the software was used 4DIAC-IDE and functional blocks (FBs) were created for the control of the omnidirectional platform, the robotic arm and the gripping gripper that together make up the robot, later with the help of the PuttY program the FORTE runtime was remotely implemented. Which was executed on a PC that is on board the robot Kuka YouBot. It was evidenced in the results that the programming by means of FBs has made that these are seen as an effective tool for the automation of flexible and reconfigurable systems, obtaining an effectiveness of 98.89% of correctness in the stipulated tests. It is concluded that the standard allows to control the algorithm through events, since it has a connection between the execution of the flow of events and data flow, in this way you can establish priorities in the order of execution of the functional blocks, which proved the operation and the features that offer This new programming method and the latest software versions based on the currently available

Optimal Control of Robotic Systems and Biased Riemannian Splines

In this paper, we study mechanical optimal control problems on a given Riemannian manifold $(Q,g)$ in which the cost is defined by a general cometric $\tilde{g}$. This investigation is motivated by our studies in robotics, in which we observed that the mathematically natural choice of cometric $\tilde{g} = g^{*}$ -- the dual of $g$ -- does not always capture the true cost of the motion. We then, first, discuss how to encode the system's torque-based actuators configuration into a cometric $\tilde{g}$. Second, we provide and prove our main theorem, which characterizes the optimal solutions of the problem associated to general triples $(Q, g, \tilde{g})$ in terms of a 4th order differential equation. We also identify a tensor appearing in this equation as the geometric source of "biasing" of the solutions away from ordinary Riemannian splines and geodesics for $(Q, g)$. Finally, we provide illustrative examples and practical demonstration of the biased splines as providing the true optimizers in a concrete robotics system

Geometric Motion Planning for Inertial Systems

In order to enable better visualization and understanding of the effect of the robot's geometry and inertia on the robot's trajectories, this dissertation proposes to use geometric mechanics to bridge the gap between the physical motion of a robot and its mathematical structure. The main focus of this research is to investigate the system geometry and inertia and their relationship with the curves and acceleration that produce the most efficient trajectories or gaits. This dissertation ‘s approach has an advantage over the state-of-the-art method, which uses numerical forward dynamic simulations. Such numerical simulations are computationally expensive and dependent on starting parameters. The proposed geometric motion planning framework allows the user to design a trajectory with respect to the requirements without any need for forward simulation. Furthermore, the proposed framework enables the user to understand the system's movement from its mathematical model rather than computing the results and exploring the outputs. Unlike previous works that were focusing on the system geometry to gain insight about the system's movement, this dissertation uses the geometry and inertia to describe the system's movement. This is achieved using two tools to gain insight into the underlying locomotion: constructing geodesics and constructing metric fields. The geodesic illustrates the robots geometric structure of the natural dynamic path which is defined as the straightest path. The metric field in mechanical systems is obtained from the system's inertia which illustrates where it is easier to move in parameterized space. In this research we consider four classes of systems: (1) fixed base systems such as robotic arms, (2) crawling systems in an inertial based environment such as floating snakes, (3) flying object with an abrupt change in momentum such as casting manipulator, and (4) system with fast energy release such as jumping robots