Diseño de un sistema automático de evasión de obstáculos basado en visión artificial para el robot colaborativo UR3

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dc.contributor.advisorGonzález Acevedo, Hernando
dc.contributor.advisorArizmendi Pereira, Carlos Julio
dc.contributor.authorBlanco Vacca, Naifer David
dc.contributor.authorBuitrago Rangel, Alex Julian
dc.contributor.cvlacGonzález Acevedo, Hernando [0000544655]spa
dc.contributor.cvlacArizmendi Pereira, Carlos Julio [0001381550]spa
dc.contributor.googlescholarGonzález Acevedo, Hernando [V8tga0cAAAAJ]spa
dc.contributor.googlescholarArizmendi Pereira, Carlos Julio [JgT_je0AAAAJ]spa
dc.contributor.orcidGonzález Acevedo, Hernando [0000-0001-6242-3939]spa
dc.contributor.researchgateGonzález Acevedo, Hernando [Hernando_Gonzalez3]spa
dc.contributor.researchgateArizmendi Pereira, Carlos Julio [Carlos_Arizmendi2]spa
dc.contributor.scopusGonzález Acevedo, Hernando [55821231500]spa
dc.contributor.scopusArizmendi Pereira, Carlos Julio [16174088500]spa
dc.coverage.campusUNAB Campus Bucaramangaspa
dc.coverage.spatialBucaramanga (Santander, Colombia)spa
dc.coverage.temporal2022spa
dc.date.accessioned2022-11-21T21:21:10Z
dc.date.available2022-11-21T21:21:10Z
dc.date.issued2022-08-20
dc.degree.nameIngeniero Mecatrónicospa
dc.description.abstractLos robots colaborativos están fabricados para realizar cada vez más tareas con los humanos, por esto es más seguro que un robot perciba su entorno para poder hacer movimientos que no comprometan la integridad tanto del humano como del robot. Aquí se muestra el desarrollo y validación de un sistema de evasión de obstáculos basados en visión artificial implementado en el robot colaborativo UR3. Se implementa un algoritmo de visión artificial para que el robot pueda tener la capacidad de identificar los obstáculos que hay entre un punto inicial y uno final. Posteriormente se implementa un algoritmo de planeación de trayectorias el cual permite al robot saber cuál es la ruta que debe seguir para llegar del punto inicial al punto final sin colisionar con los obstáculos o consigo mismo. Ambos algoritmos se desarrollaron en el software MATLAB.spa
dc.description.abstractenglishCollaborative robots are made to perform more and more tasks with humans, which is why it is safer for a robot to perceive its environment in order to make movements that do not compromise the integrity of both the human and the robot. Here we show the development and validation of an obstacle avoidance system based on artificial vision implemented in the UR3 collaborative robot. An artificial vision algorithm is implemented so that the robot can have the capacity to identify the obstacles that exist between an initial point and an end point. Subsequently, a trajectory planning algorithm which allows the robot to know the route it must follow to get from the start point to the end point without colliding with obstacles or with itself. Both algorithms were developed in MATLAB software.spa
dc.description.degreelevelPregradospa
dc.description.learningmodalityModalidad Presencialspa
dc.description.tableofcontents1. INTRODUCCIÓN 1. OBJETIVOS 1.1. Objetivo General 1.2. Objetivos específicos 2. ESTADO DEL ARTE 3. VISIÓN ARTIFICIAL 3.1. Software 3.2. Hardware 3.3. Calibración de Kinect V2 3.4. Reconocimiento basado en RBG-D 3.5. Redes neuronales convolucionales 3.6. Residual Networks 3.7. Segmentación semántica 3.8. Implementación del algoritmo basado en segmentación semántica 4. PLANEACIÓN DE TRAYECTORIAS 4.1. Robot UR3 4.2. Cinemática 4.3. Planeación de trayectorias 4.4. Protocolo de comunicación 5. VALIDACIONES 6. CONCLUSIONES 7. BIBLIOGRAFÍA 8. ANEXOS 8.1. Anexo 1 8.2. Anexo 2spa
dc.format.mimetypeapplication/pdfspa
dc.identifier.instnameinstname:Universidad Autónoma de Bucaramanga - UNABspa
dc.identifier.reponamereponame:Repositorio Institucional UNABspa
dc.identifier.repourlrepourl:https://repository.unab.edu.cospa
dc.identifier.urihttp://hdl.handle.net/20.500.12749/18419
dc.language.isospaspa
dc.publisher.facultyFacultad Ingenieríaspa
dc.publisher.grantorUniversidad Autónoma de Bucaramanga UNABspa
dc.publisher.programPregrado Ingeniería Mecatrónicaspa
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dc.rights.accessrightsinfo:eu-repo/semantics/openAccessspa
dc.rights.creativecommonsAtribución-NoComercial-SinDerivadas 2.5 Colombia*
dc.rights.localAbierto (Texto Completo)spa
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/2.5/co/*
dc.subject.keywordsMechatronicspa
dc.subject.keywordsRoboticsspa
dc.subject.keywordsAlgorithmspa
dc.subject.keywordsMatlabspa
dc.subject.keywordsHandlersspa
dc.subject.keywordsAutomatic machineryspa
dc.subject.keywordsArtificial visionspa
dc.subject.keywordsAutomationspa
dc.subject.keywordsAutomatic controlspa
dc.subject.keywordsNumerical analysisspa
dc.subject.lembMecatrónicaspa
dc.subject.lembRobotspa
dc.subject.lembManipuladoresspa
dc.subject.lembMaquinaria automáticaspa
dc.subject.lembAutomatizaciónspa
dc.subject.lembControl automáticospa
dc.subject.lembAnálisis numéricospa
dc.subject.proposalRobóticaspa
dc.subject.proposalAlgoritmospa
dc.subject.proposalVisión artificialspa
dc.titleDiseño de un sistema automático de evasión de obstáculos basado en visión artificial para el robot colaborativo UR3spa
dc.title.translatedDesign of an automatic obstacle avoidance system based on artificial vision for the collaborative robot UR3spa
dc.type.coarhttp://purl.org/coar/resource_type/c_7a1f
dc.type.coarversionhttp://purl.org/coar/version/c_ab4af688f83e57aaspa
dc.type.driverinfo:eu-repo/semantics/bachelorThesis
dc.type.hasversioninfo:eu-repo/semantics/acceptedVersion
dc.type.localTrabajo de Gradospa
dc.type.redcolhttp://purl.org/redcol/resource_type/TP

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