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espanolEn el presente articulo se describe una formulacion logica y matematica para la instrumentacion virtual 3D del brazo robotico Pegasus II mediante Matlab, haciendo uso de las tecnicas proporcionadas por la cinematica de posicion directa, y operaciones respectivas de traslacion y rotacion. Ademas de ello, se describe un procedimiento geometrico-vectorial para resolver el problema de la cinematica de posicion inversa para el mismo brazo robotico, a fin de que la pinza de este siga una trayectoria en linea recta entre el punto original en que se encuentra, y un punto (x, y, z) dado, realizando aproximaciones pertinentes que faciliten su solucion. Se explica por que este procedimiento es util para resolver el problema cinematico inverso y la ventaja que representa con respecto a otros procedimientos. Finalmente, se presentan los resultados obtenidos al realizar la instrumentacion virtual en tiempo-real de cinematica inversa sobre el brazo robotico Pegasus II, comprobando la eficiencia del procedimiento descrito. EnglishIn this paper, a mathematical and logical formulation for the 3D virtual instrumentation of the Amatrol's Pegasus II robot on Matlab is described, making use of the techniques provided by direct position kinematics, and respective translational and rotational operations. Additionally, a geometricvectorial procedure is described to solve the problem of inverse position kinematics for the same robotic arm, so that the robotic arm follows a straight line trajectory between the original point in which it is located, and a given point (x, y, z), making pertinent approximations that facilitate such solution. It is explained why this procedure is useful to solve the inverse kinematic problem and the advantage it represents concerning other procedures. Finally, the results obtained by the real-time virtual instrumentation of inverse kinematics on the Pegasus II Robot Arm are presented, verifying the efficiency of such described procedure.

Análisis cinemático e instrumentación virtual 3D para el brazo robótico Pegasus II