Desarrollo de un robot manipulador de 6 grados de libertad con tecnologías abiertas

Abstract

The design and construction of a robot manipulator or robotic arm with a joint morphology of six degrees of freedom (6 DOF) using open source technologies such as free CAD designs, 3D printing, freely configurable hardware and operating systems for robotics is implemented in the present project. Using open source computational tools development of the manipulator robot software, the use of the robotic meta-operating system (ROS) and the configuration packages kinematic development of MoveIt! allowed the construction of the entire system that computationally controls the robotic arm. The development of the project was thought of as a replicated, modifiable and economically viable project so that it can fulfill functions of manipulation, grip and transport of objects following defined trajectories previously established by the user