<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>2218-3620</journal-id>
<journal-title><![CDATA[Revista Universidad y Sociedad]]></journal-title>
<abbrev-journal-title><![CDATA[Universidad y Sociedad]]></abbrev-journal-title>
<issn>2218-3620</issn>
<publisher>
<publisher-name><![CDATA[Editorial "Universo Sur"]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S2218-36202023000300710</article-id>
<title-group>
<article-title xml:lang="es"><![CDATA[Validación científica de controladores robóticos aplicados a la logística de mercadería]]></article-title>
<article-title xml:lang="en"><![CDATA[Scientific validation of robotic controllers applied to merchandise logistics]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Mantilla]]></surname>
<given-names><![CDATA[Alex]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Duque]]></surname>
<given-names><![CDATA[María José]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Haro]]></surname>
<given-names><![CDATA[Diego]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[López]]></surname>
<given-names><![CDATA[Efrain Velastegui]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Escuela Superior Politécnica de Chimborazo  ]]></institution>
<addr-line><![CDATA[ Riobamba]]></addr-line>
<country>Ecuador</country>
</aff>
<aff id="Af2">
<institution><![CDATA[,Universidad Técnica de Babahoyo  ]]></institution>
<addr-line><![CDATA[ Los Ríos]]></addr-line>
<country>Ecuador</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>06</month>
<year>2023</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>06</month>
<year>2023</year>
</pub-date>
<volume>15</volume>
<numero>3</numero>
<fpage>710</fpage>
<lpage>720</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_arttext&amp;pid=S2218-36202023000300710&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_abstract&amp;pid=S2218-36202023000300710&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_pdf&amp;pid=S2218-36202023000300710&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="es"><p><![CDATA[RESUMEN En las últimas décadas se ha intensificado la investigación e inversión en el área de la robótica aplicada a la industria. Con el propósito de ayudar a mejorar las condiciones de vida del ser humano se ha extendido la utilización de los robots los cuales traen considerables ventajas en entornos industriales relacionadas con el incremento de la eficacia, la rapidez de procesos mecánicos y de la productividad, la reducción de errores y mejora de la calidad, lo que ha contribuido a incrementar la competitividad. El empleo de la robótica implica la necesidad de utilizar mecanismos controladores que aseguren la fiabilidad del robot. Dada la importancia de que el controlador cumpla su función, se hace necesario el empleo de dos controladores para que en caso de que el controlador principal falle, el otro controlador pueda tomar el control del prototipo lo más rápido posible y completar la trayectoria prevista.En este sentido se requiere validar el empleo de dos controladores de un prototipo de robot cartesiano de dos grados de libertad para el proceso de la logística de mercadería, objetivo que se persigue en la presente investigación. La confiabilidad de los controladores se estima a través de una función de densidad no paramétrica que caracteriza el comportamiento de los tiempos requeridos para la reconfiguración. Los resultados muestran que la evaluación de núcleo normal o gaussiano, es el que determina el mejor comportamiento de los tiempos de reconfiguración del prototipo usado.]]></p></abstract>
<abstract abstract-type="short" xml:lang="en"><p><![CDATA[ABSTRACT 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]]></p></abstract>
<kwd-group>
<kwd lng="es"><![CDATA[Controlador robótico]]></kwd>
<kwd lng="es"><![CDATA[Logística]]></kwd>
<kwd lng="es"><![CDATA[Robot cartesiano]]></kwd>
<kwd lng="es"><![CDATA[Robot industrial]]></kwd>
<kwd lng="es"><![CDATA[Robot manipulador]]></kwd>
<kwd lng="en"><![CDATA[Roboticcontroller]]></kwd>
<kwd lng="en"><![CDATA[Logistics]]></kwd>
<kwd lng="en"><![CDATA[Cartesian robot]]></kwd>
<kwd lng="en"><![CDATA[Industrial robot]]></kwd>
<kwd lng="en"><![CDATA[Robot manipulator]]></kwd>
<kwd lng="en"><![CDATA[Manipulator robot]]></kwd>
</kwd-group>
</article-meta>
</front><back>
<ref-list>
<ref id="B1">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Arpenti]]></surname>
<given-names><![CDATA[P.]]></given-names>
</name>
<name>
<surname><![CDATA[Caccavale]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
<name>
<surname><![CDATA[Paduano]]></surname>
<given-names><![CDATA[G.]]></given-names>
</name>
<name>
<surname><![CDATA[Fontanelli]]></surname>
<given-names><![CDATA[G.A.]]></given-names>
</name>
<name>
<surname><![CDATA[Lippiello]]></surname>
<given-names><![CDATA[V.]]></given-names>
</name>
<name>
<surname><![CDATA[Villani]]></surname>
<given-names><![CDATA[L.]]></given-names>
</name>
<name>
<surname><![CDATA[Siciliano]]></surname>
<given-names><![CDATA[B.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[RGB-D recognition and localization of cases for robotic depalletizing in supermarkets]]></article-title>
<source><![CDATA[IEEE Robotics and Automation Letters]]></source>
<year>2020</year>
<volume>5</volume>
<numero>4</numero>
<issue>4</issue>
<page-range>6233-8</page-range></nlm-citation>
</ref>
<ref id="B2">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Berenson]]></surname>
<given-names><![CDATA[M. L.]]></given-names>
</name>
<name>
<surname><![CDATA[Levine]]></surname>
<given-names><![CDATA[D. M.]]></given-names>
</name>
<name>
<surname><![CDATA[Krehbiel]]></surname>
<given-names><![CDATA[T. C.]]></given-names>
</name>
</person-group>
<source><![CDATA[Estadística para administración]]></source>
<year>2006</year>
<publisher-name><![CDATA[Pearson Educación]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B3">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Buitrago Salazar]]></surname>
<given-names><![CDATA[G. D.]]></given-names>
</name>
<name>
<surname><![CDATA[Ramos Sandoval]]></surname>
<given-names><![CDATA[O. L.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Interfaz de control teleoperado para dos manipuladores industriales usando un marcador visual humano]]></article-title>
<source><![CDATA[Ingeniería Electrónica, Automática y Comunicaciones]]></source>
<year>2016</year>
<volume>37</volume>
<numero>2</numero>
<issue>2</issue>
<page-range>28-38</page-range></nlm-citation>
</ref>
<ref id="B4">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Cardoso]]></surname>
<given-names><![CDATA[A. A.]]></given-names>
</name>
<name>
<surname><![CDATA[Guardado]]></surname>
<given-names><![CDATA[P. F.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Modelos cinemático y dinámico de un robot de cuatro grados de libertad.]]></article-title>
<source><![CDATA[Ingeniería Electrónica, Automática y Comunicaciones]]></source>
<year>2017</year>
<volume>38</volume>
<numero>3</numero>
<issue>3</issue>
</nlm-citation>
</ref>
<ref id="B5">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Craig]]></surname>
<given-names><![CDATA[J. J.]]></given-names>
</name>
</person-group>
<source><![CDATA[Robótica]]></source>
<year>2006</year>
<edition>(3rd ed.)</edition>
<publisher-loc><![CDATA[México DF ]]></publisher-loc>
<publisher-name><![CDATA[Prentice Hall]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B6">
<nlm-citation citation-type="">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Damas]]></surname>
<given-names><![CDATA[L. S.]]></given-names>
</name>
</person-group>
<source><![CDATA[Indústria 4.0: Colaboradores robóticos em cenários de logística]]></source>
<year>2019</year>
</nlm-citation>
</ref>
<ref id="B7">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Durá]]></surname>
<given-names><![CDATA[X.P.]]></given-names>
</name>
</person-group>
<source><![CDATA[Estimaciones de densidad no paramétrica vía KERNEL]]></source>
<year>2017</year>
<publisher-name><![CDATA[UniversitatJaume]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B8">
<nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Eker]]></surname>
<given-names><![CDATA[B.]]></given-names>
</name>
<name>
<surname><![CDATA[Eker]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
</person-group>
<source><![CDATA[The impact of the use of industrial robots on efficiency increase]]></source>
<year>2018</year>
<conf-name><![CDATA[ 3rdInternational Conference on Quality of Life]]></conf-name>
<conf-loc> </conf-loc>
</nlm-citation>
</ref>
<ref id="B9">
<nlm-citation citation-type="">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Estévez Castro]]></surname>
<given-names><![CDATA[C. A.]]></given-names>
</name>
<name>
<surname><![CDATA[Bonilla Márquez]]></surname>
<given-names><![CDATA[F. D.]]></given-names>
</name>
</person-group>
<source><![CDATA[Diseño eléctrico y fabricación de un robot industrial tele-operado para el sector logístico]]></source>
<year>2020</year>
</nlm-citation>
</ref>
<ref id="B10">
<nlm-citation citation-type="">
<collab>MECALUX</collab>
<source><![CDATA[Robots en logística: el auge de la automatización en el almacén]]></source>
<year>2022</year>
</nlm-citation>
</ref>
<ref id="B11">
<nlm-citation citation-type="">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Pérez Mahiques]]></surname>
<given-names><![CDATA[I.]]></given-names>
</name>
</person-group>
<source><![CDATA[Learning Control for Robot-to-Robot Tool Handover]]></source>
<year>2022</year>
</nlm-citation>
</ref>
<ref id="B12">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Porcelli]]></surname>
<given-names><![CDATA[A. M.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[La inteligencia artificial y la robótica: sus dilemas sociales, éticos y jurídicos. Derecho global]]></article-title>
<source><![CDATA[Estudios sobre derecho y justicia]]></source>
<year>2020</year>
<volume>6</volume>
<numero>16</numero>
<issue>16</issue>
<page-range>49-105</page-range></nlm-citation>
</ref>
<ref id="B13">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Rodríguez Ángeles]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
<name>
<surname><![CDATA[Cruz Villar]]></surname>
<given-names><![CDATA[C. A.]]></given-names>
</name>
<name>
<surname><![CDATA[Muro Maldonado]]></surname>
<given-names><![CDATA[D.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[On Line Optimal Control of Robots for Tracking without Inverse Kinematics]]></article-title>
<source><![CDATA[Computación y Sistemas]]></source>
<year>2009</year>
<volume>13</volume>
<numero>2</numero>
<issue>2</issue>
<page-range>129-41</page-range></nlm-citation>
</ref>
<ref id="B14">
<nlm-citation citation-type="">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Silverman]]></surname>
<given-names><![CDATA[B.]]></given-names>
</name>
</person-group>
<source><![CDATA[Density Estimation for Statistics and Data Analysis]]></source>
<year>1998</year>
</nlm-citation>
</ref>
<ref id="B15">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Urquijo Pascual]]></surname>
<given-names><![CDATA[P.]]></given-names>
</name>
<name>
<surname><![CDATA[Izaguirre Castellanos]]></surname>
<given-names><![CDATA[E.]]></given-names>
</name>
<name>
<surname><![CDATA[Hernández Santana]]></surname>
<given-names><![CDATA[L.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Control de trayectoria en el espacio cartesiano de robot paralelo de 2GDL usando modelo cinemático vectorial]]></article-title>
<source><![CDATA[Revista de Ingeniería Electrónica, Automáticas y las Comunicaciones]]></source>
<year>2017</year>
<volume>XXXVIII</volume>
<numero>2</numero>
<issue>2</issue>
<page-range>72-82</page-range></nlm-citation>
</ref>
<ref id="B16">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Zachi]]></surname>
<given-names><![CDATA[A. R. L.]]></given-names>
</name>
<name>
<surname><![CDATA[Hsu]]></surname>
<given-names><![CDATA[L.]]></given-names>
</name>
<name>
<surname><![CDATA[Lizarralde]]></surname>
<given-names><![CDATA[F.]]></given-names>
</name>
<name>
<surname><![CDATA[Leite]]></surname>
<given-names><![CDATA[A. C.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Adaptative control of nonlinear visual servoing systems for 3d cartesian tracking]]></article-title>
<source><![CDATA[Revista Controle &amp; Automação]]></source>
<year>2006</year>
<volume>17</volume>
<numero>4</numero>
<issue>4</issue>
<page-range>381-90</page-range></nlm-citation>
</ref>
</ref-list>
</back>
</article>
