Meaningful Learning Processes of Service Robots through Virtual Environments.

This paper presents a control scheme for navigation tasks of an aerial manipulator robot. The proposed controller prioritizes the kinematics of the sys tem considering its high redundancy, which is composed of an aerial platform and an anthropomorphic 3DOF robotic arm, the proposed control scheme is...

ver descrição completa

Detalhes bibliográficos
Autor: Guanopatin Claudio, Alex Vinicio
Formato: artículo
Estado:Versión publicada
Fecha de publicación:2024
País:Ecuador
Recursos:Universidad de las Fuerzas Armadas
Repositorio:Repositorio Universidad de las Fuerzas Armadas
Idioma:inglés
OAI Identifier:oai:repositorio.espe.edu.ec:21000/37729
Acesso em linha:http://repositorio.espe.edu.ec/handle/21000/37729
Access Level:acceso abierto
Palavra-chave:UAV VISUAL CONTROL
BRAZO ROBÓTICO
ROBOT MANIPULADOR AÉREO
id EC_083b7497e6884cf7ae4be323036ecbbc
oai_identifier_str oai:repositorio.espe.edu.ec:21000/37729
network_acronym_str EC
network_name_str Ecuador
repository_id_str
spelling Meaningful Learning Processes of Service Robots through Virtual Environments.Guanopatin Claudio, Alex VinicioUAV VISUAL CONTROLBRAZO ROBÓTICOROBOT MANIPULADOR AÉREOThis paper presents a control scheme for navigation tasks of an aerial manipulator robot. The proposed controller prioritizes the kinematics of the sys tem considering its high redundancy, which is composed of an aerial platform and an anthropomorphic 3DOF robotic arm, the proposed control scheme is de coupled, i.e., a task is defined for the aerial robot and another task for the robotic arm. To validate the proposed controller, different tests will be performed in a virtual environment and in a partially structured environment. To perform the simulation tests, a virtual environment is developed to visualize the behavior of the manipulator robot, in the simulation environment tasks are planned in the workspace and adjust the controllers, avoiding damage to the physical robot. Once the controllers have been adjusted and simulated, experimental tests are carried out with the aerial manipulator robot.ESPE-LUniversidad de las Fuerzas Armadas ESPE. ESPEL. Carrera de Ingeniería en Electrónica e Instrumentación.Ortiz Moreano, Jessica Sofía2024-04-15T19:40:53Z2024-04-15T19:40:53Z2024-02-02info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfapplication/pdfGuanopatin Claudio, Alex Vinicio (2024). Meaningful Learning Processes of Service Robots through Virtual Environments. Carrera de Ingeniería en Electrónica e Instrumentación. Universidad de las Fuerzas Armadas ESPE. Sede Latacunga.ENI-0526http://repositorio.espe.edu.ec/handle/21000/37729enginfo:eu-repo/semantics/openAccessreponame:Repositorio Universidad de las Fuerzas Armadasinstname:Universidad de las Fuerzas Armadasinstacron:ESPE2024-07-27T10:14:56Zoai:repositorio.espe.edu.ec:21000/37729Institucionalhttps://repositorio.espe.edu.ec/Universidad públicahttps://www.espe.edu.ec/https://repositorio.espe.edu.ec/oai.Ecuador...opendoar:20422026-07-25T10:39:55.761148Repositorio Universidad de las Fuerzas Armadas - Universidad de las Fuerzas Armadastrue
dc.title.none.fl_str_mv Meaningful Learning Processes of Service Robots through Virtual Environments.
title Meaningful Learning Processes of Service Robots through Virtual Environments.
spellingShingle Meaningful Learning Processes of Service Robots through Virtual Environments.
Guanopatin Claudio, Alex Vinicio
UAV VISUAL CONTROL
BRAZO ROBÓTICO
ROBOT MANIPULADOR AÉREO
title_short Meaningful Learning Processes of Service Robots through Virtual Environments.
title_full Meaningful Learning Processes of Service Robots through Virtual Environments.
title_fullStr Meaningful Learning Processes of Service Robots through Virtual Environments.
title_full_unstemmed Meaningful Learning Processes of Service Robots through Virtual Environments.
title_sort Meaningful Learning Processes of Service Robots through Virtual Environments.
dc.creator.none.fl_str_mv Guanopatin Claudio, Alex Vinicio
author Guanopatin Claudio, Alex Vinicio
author_facet Guanopatin Claudio, Alex Vinicio
author_role author
dc.contributor.none.fl_str_mv Ortiz Moreano, Jessica Sofía
dc.subject.none.fl_str_mv UAV VISUAL CONTROL
BRAZO ROBÓTICO
ROBOT MANIPULADOR AÉREO
topic UAV VISUAL CONTROL
BRAZO ROBÓTICO
ROBOT MANIPULADOR AÉREO
description This paper presents a control scheme for navigation tasks of an aerial manipulator robot. The proposed controller prioritizes the kinematics of the sys tem considering its high redundancy, which is composed of an aerial platform and an anthropomorphic 3DOF robotic arm, the proposed control scheme is de coupled, i.e., a task is defined for the aerial robot and another task for the robotic arm. To validate the proposed controller, different tests will be performed in a virtual environment and in a partially structured environment. To perform the simulation tests, a virtual environment is developed to visualize the behavior of the manipulator robot, in the simulation environment tasks are planned in the workspace and adjust the controllers, avoiding damage to the physical robot. Once the controllers have been adjusted and simulated, experimental tests are carried out with the aerial manipulator robot.
publishDate 2024
dc.date.none.fl_str_mv 2024-04-15T19:40:53Z
2024-04-15T19:40:53Z
2024-02-02
dc.type.none.fl_str_mv info:eu-repo/semantics/publishedVersion
info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv Guanopatin Claudio, Alex Vinicio (2024). Meaningful Learning Processes of Service Robots through Virtual Environments. Carrera de Ingeniería en Electrónica e Instrumentación. Universidad de las Fuerzas Armadas ESPE. Sede Latacunga.
ENI-0526
http://repositorio.espe.edu.ec/handle/21000/37729
identifier_str_mv Guanopatin Claudio, Alex Vinicio (2024). Meaningful Learning Processes of Service Robots through Virtual Environments. Carrera de Ingeniería en Electrónica e Instrumentación. Universidad de las Fuerzas Armadas ESPE. Sede Latacunga.
ENI-0526
url http://repositorio.espe.edu.ec/handle/21000/37729
dc.language.none.fl_str_mv eng
language eng
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Universidad de las Fuerzas Armadas ESPE. ESPEL. Carrera de Ingeniería en Electrónica e Instrumentación.
publisher.none.fl_str_mv Universidad de las Fuerzas Armadas ESPE. ESPEL. Carrera de Ingeniería en Electrónica e Instrumentación.
dc.source.none.fl_str_mv reponame:Repositorio Universidad de las Fuerzas Armadas
instname:Universidad de las Fuerzas Armadas
instacron:ESPE
instname_str Universidad de las Fuerzas Armadas
instacron_str ESPE
institution ESPE
reponame_str Repositorio Universidad de las Fuerzas Armadas
collection Repositorio Universidad de las Fuerzas Armadas
repository.name.fl_str_mv Repositorio Universidad de las Fuerzas Armadas - Universidad de las Fuerzas Armadas
repository.mail.fl_str_mv .
_version_ 1873868396715573248
score 15,228081

Registos relacionados