Enrique Marcet García

Trajectory planning and collisions detector for robotic arms

The major contributions of this paper are as follows: (1) the Gilbert–Johnson–Keerthi (GJK) algorithm is a collisions detector algorithm, a modified Gilbert–Johnson–Keerthi algorithm is presented, the proposed GJK algorithm uses a different distance, (2) some examples of GJK algorithm are presented, in the last example, the GJK distance algorithm is used to detect the collisions of a camera with its environment inside of a warehouse, the camera cannot cross any part of the structure of the warehouse, the camera needs to go around the structure, when the camera touches the structure, the camera goes to the right or to the left, (3) the time used in a cycle of work of the transelevator robotic arm is presented, it can be extended to other kind of robotic arms, (4) some examples of the time used in a cycle of work are presented, in the least example, the algorithm is used to control the time needed for the transelevator to go from one place to other one, (5) this paper presents a new trajectory planning algorithm which divides the trajectory in n periods, when n is equal to 2, the proposed algorithm is the same as other algorithms, but for n higher than 2, the proposed algorithm gives other optional trajectories, so the proposed algorithm lets the designer to take a better trajectory than with the previous algorithms, (6) some examples of the proposed trajectories planning algorithm are presented, in the least example, the proposed trajectory planning algorithm is used to control the movements of a transelevator inside of a warehouse.

Stabilization of the robotic arms

The main contributions of this paper are as follows: 1) a proportional-derivative controller with inverse dead-zone is addressed for the regulation of robotic arms, where the inputs dead-zone is cancelled with the inverse dead-zone, 2) stability of the mentioned technique is assured, and 3) the considered strategy is validated by two examples.

Mínimos cuadrados recursivos para un manipulador que aprende por demostración

In this work, a control system is developed to allow a manipulator to learn and plan trajectories from demonstrations given by the hand of an user. The input of data is acquired by a sensor, and its behavior is learned through an automatic learning algorithm based on the recursive least squares. A trajectory profile of interpolators to stretches is used to avoid the impulsive jerk on manipulators motion. Direct and inverse kinematics analysis is done for obtaining the joints variables values of the manipulator. A dynamic model is created using Newton-Euler formulation. A proportional derivative control is applied to the system. The monitoring and control systems are implemented in an embedded platform for testing purposes.

A Transelevator Moving Inside of an Automatic Warehouse in Virtual Reality

In this research, it is simulated the computed movements of a transelevator inside of a warehouse in virtual reality. This transelevator can be used to move some load from the floor to the deposit, and from the deposit to the floor, or can be used move the load from one place of the deposit to another one. The virtual reality is simulated using the graphic designer Quest3D. It is presented the simulation of the system.

Trajectory tracking of the robot end-effector for the minimally invasive surgeries

The surgery technology has been highly investigated, with the purpose to reach an efficient way of working in medicine. Consequently, robots with small tools have been incorporated in many kind of surgeries to reach the following improvements: the patient gets a faster recovery, the surgery is not invasive, and the robot can access to the body occult parts. In this article, an adaptive strategy for the trajectory tracking of the robot end effector is addressed; it consists of a proportional derivative technique plus an adaptive compensation. The proportional derivative technique is employed to reach the trajectory tracking. The adaptive compensation is employed to reach approximation of some unknown dynamics. The robot described in this study is employed in minimally invasive surgeries.

Innovating in the Classroom

As we find ourselves immersed in a changing world, we can not leave aside the evolution in the channels of communication and education, determined by globalization, coupled with the use of new technologies, new forms of social interaction and economic relations, Influence the seriousness of the national problem of education at all levels. Generally the high school teachers of the IPN, are forced to use their ingenuity and intuition, rather than theoretical and technical aspects. The reasons might seem obvious to us; These teachers often lack specific preparation to carry out their teaching task. Nowadays education plays a preponderant role in the development of each country, being a priority of the Institute to offer an education of both quality and avant-garde, is that the current model was implemented which has as main characteristic that it is centered in the Learning, so that our students are able to do research and that is why a group of teachers work on this proposal which can be consulted from any PC via the internet. All this because we have observed changes in behavior and habits, That is why we allow ourselves to present the present proposal, the topic of Industrial Safety and Hygiene is vital to preserve the integrity of our genre we see everything that happens in the world and we are aware that to be a living planet we have the phenomena that are presented.