Low-cost device for teaching-learning robotics
Abstract
This work presents the implementation of a device, integrated by a scaled robot model obtained by 3D printing FDM (Fuse Deposition Modeling) based on an industrial robot ABB IRB 460 also an Arduino UNO R3 programmable board, which can be used for teaching robotics at middle-superior and superior level. For this purpose, the kinematic model of the scaled robot was obtained, which was used as a test device when it is not possible to get access to a real robot. For this reason, the calculation of the robot?s own direct kinematics was programmed in Matlab using the Denavit-Hartenberg method, which can be programmed on the Arduino card connected to the robot. Once the tests were completed, it was shown that the obtained results are similar. In addition, it is possible to develop such validations at the same time, from the modification of the robot parameters in each of the respective programs, allowing students to interact with a scale model and its manipulation when it is not possible to handle a real robot. It also allows the inclusion of other types of programs as the course progresses and, in the same way, to be validated with this same developed scheme.
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References
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