Abstract

MANTILLA, Alex; DUQUE, María José; HARO, Diego  and  LOPEZ, Efrain Velastegui. Scientific validation of robotic controllers applied to merchandise logistics. Universidad y Sociedad [online]. 2023, vol.15, n.3, pp. 710-720.  Epub June 30, 2023. ISSN 2218-3620.

In recent decades, research and investment in the area of robotics applied to industry has intensified. With the purpose of helping to improve the living conditions of human beings, the use of robots has spread, bringing considerable advantages in industrial environments related to the increase of efficiency, the speed of mechanical processes and productivity, the reduction of errors and the improvement of quality, which has contributed to increase competitiveness. The use of robotics implies the need to use control mechanisms that ensure the reliability of the robot. Given the importance of the controller fulfilling its function, it is necessary to use two controllers so that in case the main controller fails, the other controller can take control of the prototype as quickly as possible and complete the planned trajectory. In this sense, it is required to validate the use of two controllers of a Cartesian robot prototype with two degrees of freedom for the process of merchandise logistics, which is the objective of this research. The reliability of the controllers is estimated through a density function that characterizes the behavior of the times required for reconfiguration. The results show that the normal or Gaussian kernel evaluation is the one that determines the best behavior of the reconfiguration times of the prototype used

Keywords : Roboticcontroller; Logistics; Cartesian robot; Industrial robot; Robot manipulator; Manipulator robot.