<?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>1815-5928</journal-id>
<journal-title><![CDATA[Ingeniería Electrónica, Automática y Comunicaciones]]></journal-title>
<abbrev-journal-title><![CDATA[EAC]]></abbrev-journal-title>
<issn>1815-5928</issn>
<publisher>
<publisher-name><![CDATA[Universidad Tecnológica de La Habana José Antonio Echeverría, Cujae]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S1815-59282024000100038</article-id>
<title-group>
<article-title xml:lang="es"><![CDATA[Realimentación Visual Robusta para el Control de un Robot Manipulador con Actuadores de Posición]]></article-title>
<article-title xml:lang="en"><![CDATA[Robust Visual Feedback for the Control of a Robot Manipulator with Position Actuator]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[González Dorantes]]></surname>
<given-names><![CDATA[Armando Nicolás]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Soto]]></surname>
<given-names><![CDATA[Santos Miguel Orozco]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Universidad Autónoma de la Ciudad de México  ]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>Mexico</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>04</month>
<year>2024</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>04</month>
<year>2024</year>
</pub-date>
<volume>45</volume>
<numero>1</numero>
<fpage>38</fpage>
<lpage>50</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_arttext&amp;pid=S1815-59282024000100038&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_abstract&amp;pid=S1815-59282024000100038&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_pdf&amp;pid=S1815-59282024000100038&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="es"><p><![CDATA[RESUMEN Este trabajo presenta una estrategia para mejorar el control de robots manipuladores actuados por servomotores controlados en posición. La mejora consiste en utilizar visión artificial para implementar una segunda malla de control y así garantizar que las articulaciones alcancen los valores deseados. El algoritmo de realimentación visual es robusto ante rotaciones y traslaciones de la cámara, lo cual es su principal ventaja contra otras técnicas similares reportadas en la literatura. La técnica propuesta se probó en un robot de 3 GDL con actuadores de posición, al cual se le comandaron diferentes posiciones deseadas de las articulaciones, mismas que se regularon con un controlador PID. Los experimentos se realizaron con la cámara rotada en diferentes ángulos, obteniendo resultados satisfactorios al reducir los errores de las posiciones articulares con respecto a la regulación de posición sin realimentación visual.]]></p></abstract>
<abstract abstract-type="short" xml:lang="en"><p><![CDATA[ABSTRACT This work presents a strategy to improve the control of robot manipulators actuated by servomotors controlled in position. The improvement consisted on using artificial vision in order to implement a second control loop that guarantees the joint position tracking of the desired values. The visual feedback algorithm is robust upon rotations and translations of the camera, which is its main advantage against other similar approaches reported in the literature. The proposed technique was tested on a 3 DOF robot with position actuators, to which different desired joint positions were commanded and regulated through a PID controller. The experiments were performed with different rotation angles of the camera, obtaining successful results by reducing the joint position errors with respect to the position regulation without visual feedback.]]></p></abstract>
<kwd-group>
<kwd lng="es"><![CDATA[Control basado en visión]]></kwd>
<kwd lng="es"><![CDATA[visión robótica]]></kwd>
<kwd lng="es"><![CDATA[realimentación visual]]></kwd>
<kwd lng="es"><![CDATA[control de robots]]></kwd>
<kwd lng="en"><![CDATA[Vision-based control]]></kwd>
<kwd lng="en"><![CDATA[robotics vision]]></kwd>
<kwd lng="en"><![CDATA[visual feedback]]></kwd>
<kwd lng="en"><![CDATA[robots control]]></kwd>
</kwd-group>
</article-meta>
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