Modelación, control y simulación de un proceso de pintado de partes de carrocerías usando un brazo robótico colaborativo UR3 y tecnologías inmersivas.

Abstract

The present work of curricular integration was developed with the objective of modeling, controlling and simulating the process of painting body parts using a collaborative UR3 robotic arm and immersive technologies. Using the RoboDK software, the virtual environment was created for the painting process using the 3D model of the UR3 robot available in the development software. Three models of plastic parts that make up the body of a car were included: Box for rear view mirror, center console and armrest. The 3D models of the parts were designed with SolidWorks. MatLab was used to create interaction windows for the user and the programming and execution of the control algorithm for positioning the UR3. The user can define the part to be painted, as well as the painting mode: automatic or manual. At automatic mode, the user selects the part to be painted and the number of layers. At manual mode, the user determines the points to define the painting path. In reference to immersive technologies, virtual reality was used using virtual reality glasses with which the user has an immersive experience in the industrial process. For the validation of kinematic models, they were taken the position and orientation data of a scene created to the painting in automatic mode and the functions of kinematic models were introduced. With the determination coefficient, the validity of the equations obtained and programmed for the direct kinematic model was proven. Also, a positioning error test allowed to validate the PID controller that controls the 6 joints of the robot. Through a survey carried out on a group of 15 users, it was validated that the simulation is immersive, intuitive and easy to use.