Implementación de un sistema para el control de movimiento remoto del brazo robótico ANNO RV624 basado en señales electromiográficas

Abstract

The implementation of industrial automation technologies, such as robots, has faced challenges in the human machine interface, particularly in terms of adaptability and real time response. In Ecuador, despite the growth in the implementation of technologies, there are still serious obstacles in the effective integration of human intervention, so there is a need to develop an effective and safe human control system for industrial robots, with safety and adaptability in complex environments. Therefore, in this research a system for remote control of ANNO RV624 robotic arm based on electromyographic signals wa s implement in order to improve business competitiveness through the combination of automated efficiency with human adaptability. The methodology of the research included the initial evaluation state of the arm, the consolidation and architecture of the sy stem, which allowed defining the necessary requirements for the system. On the other hand, for the hardware and software configuration, two MYO bracelets were used to capture the EMG signals and transmit the data via Bluetooth, complementing the secondary bracelet with an alternative communication module consisting of Arduino and HM 11. The implementation of the control algorithm was based on Python and its software libraries such as QYQTS, PYOMYO, SERIAL, together with Qt Designer for the creation of the c ontrol interface. As for the actual results, the performance tests showed the capability of the ANNO RV624 robotic arm control system, reporting response times with latency ranging from 2145 to 2510 ms at 75% speed, with the gripper performance standing ou t with 2145 ms, followed by the second GDL with 2147 ms, and the sixth GDL with the highest latency of 2510 ms. The efficiency of the system, evaluated across 1600 samples, reached 98.86%.