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dc.creatorContreras Parada, Pedro Alexander
dc.creatorPeña Cortés, César Augusto
dc.creatorRiaño Jaimes, Cristhian Iván
dc.date.accessioned2018-11-26T13:12:32Z
dc.date.available2018-11-26T13:12:32Z
dc.date.issued2014-07-01
dc.identifier.citationContreras Parada, P., Peña Cortés, C., & Riaño Jaimes, C. (2014). Módulo robótico para la clasificación de lulos (Solanum Quitoense) implementando visión artificial. INGE CUC, 10(1), 51-62. Recuperado a partir de https://revistascientificas.cuc.edu.co/ingecuc/article/view/343spa
dc.identifier.issn0122-6517, 2382-4700 electrónico
dc.identifier.urihttp://hdl.handle.net/11323/1819
dc.description.abstractEn este artículo se expone el diseño e implementación de un módulo robótico para la clasificación de lulos integrando técnicas de control, visión artificial y robótica. El proceso que permite la clasificación de lulos opera sobre algoritmos para el control de un brazo robótico de 5 GDL, que basado en la información obtenida con técnicas de visión de artificial permite seleccionar lulos con características previamente definidas por el usuario, como son tamaño, color e imperfecciones en el fruto. Se inicia realizando un diseño CAD del módulo, el cual permite establecer las propiedades físicas, definir materiales, técnicas de fabricación y realizar estudio de movimiento de los distintos mecanismos involucrados en el proceso. Se implementaron los algoritmos de control, la cinemática del brazo robótico y los algoritmos de visión artificial. El resultado se resume en un módulo robótico de carácter académico que permite la clasificación de lulos.spa
dc.description.abstractThis paper describes the design and implementation of a robotic module for Solanum Quitoense classification using control techniques, computer vision and robotics. The process that allows the classification of Solanum Quitoense (or lulo) operates on algorithms to control a 5 degrees-of-freedom robotic arm that, based on the information obtained from computer vision techniques, selects lulos with features previously defined by the user, such as size, color, and imperfections in the fruit. Everything starts by making a CAD module design which allows establishing physical properties, defining materials and manufacturing techniques and performing a motion study of the different mechanisms involved in the process. Subsequently, control algorithms, robotic arm kinematics and computer vision algorithms are implemented. The result is summarized in an academic-based robotic module that allows lulo classification.eng
dc.format.mimetypeapplication/pdf
dc.language.isospaspa
dc.publisherCorporación Universidad de la Costaspa
dc.relation.ispartofseriesINGE CUC; Vol. 10, Núm. 1 (2014)
dc.sourceINGE CUCeng
dc.subjectVisión Artificialeng
dc.subjectBrazo Robóticoeng
dc.subjectCinemática Inversaeng
dc.subjectCinemática Directaeng
dc.subjectComputer Visioneng
dc.subjectRobotic Armeng
dc.subjectInverse Kinematicseng
dc.subjectForward Kinematicseng
dc.titleMódulo robótico para la clasificación de lulos (Solanum Quitoense) implementando visión artificialeng
dc.title.alternativeRobotic module for lulo (Solanum Quitoense) classification using computer visioneng
dc.typeArticleeng
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dc.source.urlhttps://revistascientificas.cuc.edu.co/ingecuc/article/view/343
dc.identifier.eissn2382-4700
dc.identifier.pissn0122-6517


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