{"id":2164,"date":"2022-10-20T11:44:08","date_gmt":"2022-10-20T11:44:08","guid":{"rendered":"https:\/\/bdih.spri.eus\/robotika-kolaboratiboko-plataforma-kukalwr4-ur5-gailu-haptikoak-eta-laneko-ingurunearen-3d-monitorizazioa-dituena\/"},"modified":"2026-05-18T05:01:47","modified_gmt":"2026-05-18T05:01:47","slug":"collaborative-robotic-platform-composed-by-the-kukalwr4-ur5-haptic-devices-and-3d-workspace-monitoring","status":"publish","type":"post","link":"https:\/\/bdih.spri.eus\/en\/collaborative-robotic-platform-composed-by-the-kukalwr4-ur5-haptic-devices-and-3d-workspace-monitoring\/","title":{"rendered":"Robotika kolaboratiboko plataforma, KukaLWR4+, UR5, gailu haptikoak eta laneko ingurunearen 3D monitorizazioa dituena"},"content":{"rendered":"<p>KUKA light weight robot (LWR) robot kolaboratiboa<br \/>\nKuka LWR izan zen indar-sentsoreak junturetan txertatuak zituen lehenbiziko robota. Ezaugarri horri eta diseinu arin eta biribilduari esker, robot kolaboratiboa izateko baldintzak betetzen ditu. Indar-sentsoreen bidez, robotek &#8220;sentitu&#8221; egiten dute beren egituran zehar izaten den kontaktu oro; hala, abiadura moteldu egin dezakete, edo gelditu.  Txertatuak dituen indar-sentsoreei esker, beste ezaugarri hau ere badu robot horrek: grabitate-konpentsazioko moduan ipin daiteke, eta eskuz mugitu (adibidez, berari ibilbide bat erakusteko) eta, nahi izanez gero, mugimendu horren exekuzioa gorde daiteke, automatikoki errepikatzeko. Hartara, oso erraz programatu daiteke robota, robotikako aditurik gabe ere. Kuka iiwa robotaren aurrekoa da. Kuka LWRk 7 kg-ko karga-ahalmena du (payload-a).<\/p>\n<p>Universal robot UR5<br \/>\nMerkatu-kuota zabala eskuratu dute Universal Robots-eko robotek, prezio\/kalitate erlazio ona baitaukate. Gainera, konfigurazioan eta programazioan dituzten hobekuntzei esker, erabilerrazagoak dira, ohiko robot industrialekin alderatuta. Beste abantaila bat: indar-sentsore bat daukate azken artikulazioan; horri esker, egiten ari diren eragiketaren atzeraelikadura dute. <\/p>\n<p>Gailu haptikoak<br \/>\nRobot haptikoak gailu mekatronikoak dira, eta ukimena transmiti dezakete ingurune birtual batetik gizaki batengana, eta alderantziz. Pertsona batek objektu birtualak &#8220;uki&#8221; ditzake, haien testura sentitu eta haiekin interakzioan jardun errealitate birtualeko ingurunean edo mundu birtual batetik. Gailu haptikoak indar-atzeraelikaduraren bidez (feedbacka) itzultzen du interakzio horien emaitza. Mundu birtual batetik indar-seinaleak berrelikatzeko ahalmena inguruen errealetara ere eraman daiteke. Horrelakoetan, teleoperazioa izaten da aplikaziorik ohikoena. Maisu-esklabo kontrol-estrategia baterako erabil daiteke robot haptikoa (maisua, gailu haptikoa; esklaboa, urrutitik gidatutako robot bat).<br \/>\nSailean erabilgarri dauden hiru gailu haptikoen modeloak aztertuko ditugu hemen.<br \/>\nMahaigaineko modeloak dira hiru gailuak: Phantom Omnik 6 DoF ditu; Novint Falconek 3 DoF, eta Force dimension Omega 7k, berriz, 7 DoF.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>KUKA light weight robot (LWR) robot kolaboratiboa Kuka LWR izan zen indar-sentsoreak junturetan txertatuak zituen lehenbiziko robota. Ezaugarri horri eta diseinu arin eta biribilduari esker, robot kolaboratiboa izateko baldintzak betetzen ditu. Indar-sentsoreen bidez, robotek &#8220;sentitu&#8221; egiten dute beren egituran zehar izaten den kontaktu oro; hala, abiadura moteldu egin dezakete, edo gelditu. Txertatuak dituen indar-sentsoreei esker,&hellip;<\/p>\n","protected":false},"author":1,"featured_media":2167,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"footnotes":""},"class_list":["post-2164","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.5 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Robotika kolaboratiboko plataforma, KukaLWR4+, UR5, gailu haptikoak eta laneko ingurunearen 3D monitorizazioa dituena - BDIH<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/bdih.spri.eus\/en\/collaborative-robotic-platform-composed-by-the-kukalwr4-ur5-haptic-devices-and-3d-workspace-monitoring\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Robotika kolaboratiboko plataforma, KukaLWR4+, UR5, gailu haptikoak eta laneko ingurunearen 3D monitorizazioa dituena - BDIH\" \/>\n<meta property=\"og:description\" content=\"KUKA light weight robot (LWR) robot kolaboratiboa Kuka LWR izan zen indar-sentsoreak junturetan txertatuak zituen lehenbiziko robota. Ezaugarri horri eta diseinu arin eta biribilduari esker, robot kolaboratiboa izateko baldintzak betetzen ditu. Indar-sentsoreen bidez, robotek &#8220;sentitu&#8221; egiten dute beren egituran zehar izaten den kontaktu oro; hala, abiadura moteldu egin dezakete, edo gelditu. 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