Este trabajo muestra como se realiza la ensenanza de robotica mediante un robot modular y los resultados educativos obtenidos en el Master Universitario en Automatica y Robotica de la Escuela Politecnica Superior de la Universidad de Alicante. En el articulo se describen los resultados obtenidos con el uso de este robot modular tanto en competencias genericas como especificas, en las ensenanzas de electronica, control y programacion del Master. En este articulo se exponen los objetivos de aprendizaje para cada uno de ellos, su aplicacion a la ensenanza y los resultados educativos obtenidos. En los resultados del estudio, cabe destacar que el alumno ha mostrado mayor interes y ha fomentado su aprendizaje autonomo. Para ello, el robot modular se construyo con herramientas para fomentar este tipo de ensenanza y aprendizaje, tales como comunicaciones interactivas para monitorizar, cambiar y adaptar diversos parametros de control y potencia del robot.
This work was funded by the Spanish project GV05/007: “Diseno y experimentacion de estrategias de control visual-fuerza para sistemas flexibles de manipulacion”.
Este trabajo ha sido parcialmente financiado por el proyecto MCYT (DPI2005-06222) Diseno, Implementacion y Experimentacion de Escenarios de Manipulacion Inteligentes para Aplicaciones de Ensamblado y Desensamblado Automatico, asi como por el proyecto GV05/007 “Diseno y experimentacion de estrategias de control visual-fuerza para sistemas flexibles de manipulacion”.
Disassembly problem is a current issue for industrial companies. Governments of different countries promote research in this field. This paper presents the following points. First a brief state of the art in disassembly planning. Next it exposes a solution for the disassembly problem of industrial products. It uses a combination between direct and indirect graph representation for the product, all components that have physical entity are considered as vertices of the graph. Edges of the graph represent the relationships between vertices. There are three different types of edges. First corresponds with accessibility and fastener restrictions. Second corresponds with direct relations between components without fasteners. Last one corresponds with contact relationships, which represent an indifferent choice of the vertices. Based on that representation the paper exposed a method to find the best sequence to disassemble a component. Costs of disassembling each component and of changing tool between each pair of vertices and different sequences of the disassembly are taken into consideration. This method consists in a function minimization defined in the graph domain. In the last point of the paper this method is tested with a remote control disassembly. This method gives a solution to the problem, if several solutions, with the same cost, exist then it gives all of them, and any one of these disassemble sequences could be used to achieve to the target component.
El objetivo de este trabajo es presentar el diseno de un modelo de indicadores de las competencias en las Tecnologias de la Informacion y la Comunicacion [TIC] en la docencia universitaria. La referencia y fundamentacion para la elaboracion de este modelo ha sido a partir de la revision realizada sobre los indicadores de competencias digitales existentes. La implementacion del modelo nos permite la incorporacion de las TIC en la docencia universitaria y reconducir los procesos de ensenanza-aprendizaje ante las demandas que provienen del Espacio Europeo de Educacion Superior
When a human is introduced into a robotic cell, the robot controller must be aware of the human location in order to assure her/his physical integrity. This paper presents a pre-collision strategy which maintains a safety distance between a robot and a human who wears a tracking system composed of a motion capture suit and a UWB localization system. The system proposed is able to guide the robot using visual servoing through a previously defined path. The time-independent behaviour of this system enables the robot to completely track the desired trajectory, even in those cases when the robot goes away from the human during the tracking to guarantee her/his safety.
In this paper, the so-called 2-D movement flow-based visual servoing system is proposed, which allows the tracking of trajectories planned in the image space. This method is time-independent, which is useful when problems such as obstructions occur during the tracking. This method allows the tracking of image trajectories assuring the correct behaviour in the 3-D space and avoiding the limitations of the time-dependent systems used up to now for tracking trajectories. This aspect has allowed its application to manipulation tasks in which the trajectory can be obstructed during the tracking.
