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espanolEn este trabajo se realiza la cinematica inversa de un robot redundante tipo Scorbot-ER VPlus, al que se le ha anadido un grado de libertad adicional, consistente en una base deslizante. Para la solucion del problema cinematico inverso se aplica un proceso iterativo de evaluacion del desempeno del manipulador en diferentes configuraciones. Se selecciona una coordenada de nodo como variable en el proceso y fijando su valor, se determinan las demas coordenadas a partir del modelo cinematico inverso del manipulador original. Para esta configuracion se evaluan diversos indices de desempeno aplicados a sistemas roboticos y se analiza el costo computacional de su inclusion en la solucion del problema cinematico inverso. Posteriormente se varia la coordenada seleccionada y se repite el proceso. De esta manera es posible evaluar para que indices de desempeno se logran menores tiempos de resolucion, buscando su aplicacion e inclusion dentro del control cinematico del robot redundante. EnglishIn this paper the inverse kinematics of a redundant Scorbot-ER VPlus type robot with an additional degree of freedom, represented by a sliding platform, is performed. For the solution of the inverse kinematic problem it is developed an iterative process that evaluates the performance of the manipulator in different configurations. A joint coordinate is selected as a variable in the iterative process and setting its value, the other coordinates are determined from the inverse kinematic model of the original manipulator. For this configuration different performance indices applied to robotic systems are evaluated and the computational cost of their inclusion in the solution of the inverse kinematic problem is analyzed. Subsequently the selected coordinate is varied and the process is repeated. In this way it is possible to assess the performance indices leading to lower resolution times, seeking their application and inclusion in the kinematic control of redundant robot.

Cinemática inversa de un robot redundante tipo scorbot – ER Vplus: influencia de índices de desempeño