Virtual prototype of a controller by stages for a robotic arm in an AS/RS application

Prototipado virtual de un controlador por etapas para un brazo robótico en una aplicación AS/RS

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Frank Flórez Montes
Jhon Alexander Taborda Giraldo

Abstract

ONTARE. REVISTA DE INVESTIGACIÓN DE LA FACULTAD DE INGENIERÍA


In  this  research  paper  we  present  the  design  and  rapid  prototyping processes  of a stage-based controller for a robotic arm in an automatic search and retrieval system (ASLRS) of books in a library, called Biblio-bot. The design of a stage-based controller uses  sequential and combinational decision rules based on state machines and flow charts of the Simulink­ State flow environment. This toolbox allows automatic code generation at real-time execution and validation of designs in virtual reality environments. We show outcomes of the Biblio-bot project concerning  the design and  tuning of books, recovery processes using the robotic arm. This process is the most critical task in the Biblio-bot system performance.

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