Diseño de un control de posición basado en la sintonización de Cuckoo Search para un robot cortador de hojas (Design of a Position Control Based on Cuckoo Search Tuning for a Cutter Leaves Robot)

Jose Guillermo Cebada Reyes (guillermo.cebada@gmail.com)1, Federico Felix Hahn Schlam (fedhahn@gmail.com)1, Agustin Ruiz García (agustinruizg@gmail.com)1, Eugenio Romantchik Kriuchkova (eugenio.romantchik@gmail.com)1, Antonio Michua Camarillo (amichua_camarillo@hotmail.com)2


1Chapingo of University, Depto. Agricultural Engenineering
2Puebla of University, Depto. Electronic Engenineering

This paper appears in: Revista IEEE América Latina

Publication Date: May 2016
Volume: 14,   Issue: 5 
ISSN: 1548-0992


Abstract:
In vitro culture is constituted by four phases. Cutting is the most important step and where the application of technological advances are important tools to provide the laboratory specialists working with plant tissue. To accomplish this objective, a Cartesian robot of three degrees of freedom was developed using electronic technology using Arduino and programmed with MATLAB GUIDE. The performance of the position control of the Cartesian robot was evaluated using two ways of tuning, the maximum and the method of bio-inspired optimization Seacrh Cuckoo (CS). Mechanical efficiency declines with maximum robot tuning, while the CS adjustment algorithm helps to identify the gains, increasing the mechanical efficiency of the system by finding an average error for both points of 14.5mm.

Index Terms:
Arduino, Cutting robot, Mechanical error, Test Points, Performance Index   


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