informe n°5 robotica
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INGENIERIA ELECTROMECÁNICA
ROBÓTICA INDUSTRIAL
PRACTICA N° 5
CHACÓN QUISTAN BYRON EDUARDO
Fecha: 17/11/2015
Tema:
PROGRAMACIÓN DEL MOVIMIENTO PTP (POINT TO POINT
Objet!"#
• A$a%&a' %a# (a'a(te')#t(a# *e% m"!me$t" +T+
• Ge$e'a' m"!me$t"# *e% '"b"t ("$ ("ma$*" +T+,
Mate'a%e# - E."#
• G)a# a'a %a '"'ama($ *e% '"b"t,• Na!ea*"' 3C+ *e% R"b"t I$*#t'a% 3R14 - 3R5,• B'a&" '"bt(" 3U3A 3R4
MARCO TEORICOCONOCIMIENTOS PREVIOS NECESARIOS
En el robot KUKA pueden programarse los siguientes tipos de movimientos:
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M"!me$t" +"$t t" +"$t +T+6 M"!me$t" %$ea% LIN6
M"!me$t" ('(%a' CIRC6 M"!me$t" S+LINE
Ilustración 1.Tipos de Movimiento
Los movimientos LIN !I"! # $%LINE tambi&n se encuentran agrupados ba'o ladenominación movimientos de trayectoria o movimientos !% ()!ontinuous %at*)+.
2. PROGRAMACIÓN DE MOVIMIENTOS PTP
Caractersticas!
• El robot despla,a el T!% al punto de destino a lo largo de la tra#ectoria m-s
r-pida.
• La tra#ectoria m-s r-pida no es en regla general la tra#ectoria m-s corta # por
ello no es una recta.
• ado /ue los e'es del robot se mueven de 0orma rotacional tra#ectorias curvas
pueden ser e'ecutadas de 0orma m-s r-pida /ue las rectas.
• No puede predecirse la tra#ectoria Eacta. La programación de un movimiento
• %T% comprende:
• 2uardar las coordenadas del punto de destino.
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• eclarar distintos par-metros: velocidad coordenadas de base # *erramienta
etc.
La memori,ación de las coordenadas del punto se denomina "A#rendi$a%e".
El punto de arran/ue de un movimiento siempre es el punto de destino del movimiento
anterior.
SYNCHRO PTP
E% eje *'e(t'& e# e% eje .e $e(e#ta e% tem" m# %a'" a'a a%(a$&a' e%$t" *e *e#t$",
Tamb8$ #e ("$#*e'a %a $*(a($ *e %a !e%"(*a* e$ e% 9"'m%a'" e$ %)$ea,
Ilustración 3.$#nc*ro4%T%
Pe!"#$ %e &a!cha &' e$e)a
De 9"'ma e#t$*a' #e t%&a e% e'9% *e ma'(a m# e%e!a*"; e# *e('< %"#
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'eba#e$ %"# m"me$t"#,
I%#t'a($ >, +e'9% *e ma'(a m# e%e!a*" ("$ +T+
1, ?a#e *e a(e%e'a($ 2, ?a#e C"$#ta$te
>, Re*(($ *e !e%"(*a* "' 'eba#e *e m"me$t"#
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@, ?a#e ("$#ta$te
5, ?a#e *e 9'e$a*",
FORMULARIO INLINE PARA MOVIMIENTOS PTP
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PROCEDIMIENTO PRÁCTICOC0-%#c#0-e 1!e)#a
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CUESTIONARIO
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