Control de precisión en manipuladores móviles industrialesdesafíos y soluciones

  1. Núñez Calvo, Naroa 1
  2. Sorrosal, Gorka 1
  3. Cabanes Axpe, Itziar 2
  4. Mancisidor Barinagarrementeria, Aitziber 2
  1. 1 Basque Research and Technology Alliance
    info

    Basque Research and Technology Alliance

    Mendaro, España

  2. 2 Universidad del País Vasco/Euskal Herriko Unibertsitatea
    info

    Universidad del País Vasco/Euskal Herriko Unibertsitatea

    Lejona, España

    ROR https://ror.org/000xsnr85

Journal:
Jornadas de Automática
  1. Cruz Martín, Ana María (coord.)
  2. Arévalo Espejo, V. (coord.)
  3. Fernández Lozano, Juan Jesús (coord.)

ISSN: 3045-4093

Year of publication: 2024

Issue: 45

Type: Article

DOI: 10.17979/JA-CEA.2024.45.10906 DIALNET GOOGLE SCHOLAR lock_openOpen access editor

Abstract

Advances in industry, technology, and other factors have generated new demands in manufacturing. Recently, the use ofmobile manipulators, consisting of a robotic arm mounted on a mobile robot, has increased to meet new needs for speed,precision, and flexibility. However, they still do not achieve the required precision for highly demanding industrial applications,such as welding or assembly. This article identifies and presents the main sources of error in mobile manipulators and theircomponents. Additionally, it discusses the different solutions provided in the literature, defining their limitations and outliningthe challenges that still need to be addressed. Finally, a proposal for coupled control is presented to increase the precision ofmobile manipulators by combining the positive features of the systems that comprise them: the precision of a robotic arm andthe mobility provided by a mobile platform.

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Data source: Dialnet