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IEEE Access
In this work, a new constrained numerical optimization approach is proposed for solving offline t... more In this work, a new constrained numerical optimization approach is proposed for solving offline the Inverse Kinematics Problem (IKP) of articulated robots, which consists on optimizing the joint displacement while the end effector is positioned and oriented in a desired pose. The novelty of this approach is in the formulation of the optimization problem, where the objective function calculates the minimum joint displacement, with the position and orientation errors handled as equality constraints. This formulation may avoid configurations containing singularities. The IKP is solved for a defined trajectory in the dexterous workspace of the robot by using two versions of the Differential Evolution algorithm and considering two stages. First, DE/rand/1/bin is used for positioning and orienting the end effector at the first point of the trajectory regardless of its initial position. The second stage applies DE/best/1/bin in order to emphasize the exploitation process and minimize the computational time to obtain the inverse kinematics due to the closeness that exists between the consecutive points that make up the trajectory. This combination of DE versions is another contribution of the proposed approach that speeds up considerably the search process by first prioritizing the exploration and then the exploitation, and this sequential application can be used to the solution of diverse constrained numerical optimization problems. Finally, the IKP for the IRB-1600 robot was solved as a case study considering two trajectories in its dexterous workspace, circular and Lissajous. The results generated by the proposed approach for the case study were simulated in the RoboDK R industrial robot simulator. INDEX TERMS Heuristic algorithms, differential evolution, optimization, inverse kinematics problem, trajectory tracking.
El presente ensayo se realizo en las instalaciones apicolas de la.Direccion General de Sanidad Ve... more El presente ensayo se realizo en las instalaciones apicolas de la.Direccion General de Sanidad Vegetal y Animal, Canton El.Matazano, Jurisdiccion de Soyapango, Departamento de San Salvador.Las condiciones climaticas promedio anuales son 23 °C, 76% de humedad, velocidad de vientos predominantes con rumbo norte 8.3 km por hora, nubosidad de 5.6 y luz solar de 8.2 horas por dia. El lugar esta a 650 msnm, con coordenadas 8S°10 longitud.Oeste y 13 °42'18 ". latitud norte. La investigacion duro 22 semanas, dividiendose en 3 fases: Trampeo y formacion de. nucleos,9 semanas; de campo,9 semanas, y de laboratorio, 4 semanas.Se trabajo con un diseno completamente al azar, con 5 tratamientos y 3 repeticiones cada uno, que fueron constituidas de 15 colmenas.El objetivo del ensayo fue sustituir el polen natural en la alimentacion de abejas, con tortas de soya, frijol, gandul y morro; estos fueron los 5 tratamientos y de ellos el polen se convirtio en el testigo.Los resultados obtenidos d...
Journal of Applied Engineering Science, 2021
Finding the inverse kinematic solution of a serial manipulator has always attracted the attention... more Finding the inverse kinematic solution of a serial manipulator has always attracted the attention of optimization enthusiasts, as the solution space is highly nonlinear and, depending on the number of degrees of freedom, has multiple solutions. In the literature, one can find several proposed solutions using heuristic techniques; however, for highly redundant manipulators, e.g., seven or more, the discussions focused on minimizing the positional error. In this paper, a metaheuristic approach is presented to solve not only the inverse kinematics of a 7 and 8 DOF manipulators but the proposed algorithm is used to find the robot's poses for trajectory planning where the robot is required to meet the desired position and orientation based on quaternion representation of each point along the path. The metaheuristic approach used in this paper is particle swarm optimization (PSO), where the unit quaternion is used in the objective function to find the orientation error. The results pr...
The main purpose of this research is to determine the level of gross motor coordination in childr... more The main purpose of this research is to determine the level of gross motor coordination in children of first grade of municipal educational institutions "Victor Andres Belaunde 1287" and "216-1285 Amauta II" district of Ate-Lima 2014, this study It has academic importance that will reveal the differences in gross motor coordination between two institutions. It is hypothesized: There are significant differences in the level of gross motor coordination in children of first grade of municipal educational institutions "Victor Andres Belaunde 1287" and "216-1285 Amauta II" district of Ate-Lima 2014. methodology is descriptive, with no comparative experimental design, sample was 50 children in first grade. For data collection the battery motor coordination was applied for Kids (Koorperkoordinations Test für Kinder-KTK). The results indicate, that with a confidence level of 95% was found that: There are significant differences in the level of gross motor coordination in children of first grade of municipal educational institutions "Victor Andres Belaunde 1287" and "Amauta II 216-1285 "district of Ate-Lima 2014 (being higher in the IEM Victor A. Belaunde 1287 p <0.05).
IEEE Access
In this work, a new constrained numerical optimization approach is proposed for solving offline t... more In this work, a new constrained numerical optimization approach is proposed for solving offline the Inverse Kinematics Problem (IKP) of articulated robots, which consists on optimizing the joint displacement while the end effector is positioned and oriented in a desired pose. The novelty of this approach is in the formulation of the optimization problem, where the objective function calculates the minimum joint displacement, with the position and orientation errors handled as equality constraints. This formulation may avoid configurations containing singularities. The IKP is solved for a defined trajectory in the dexterous workspace of the robot by using two versions of the Differential Evolution algorithm and considering two stages. First, DE/rand/1/bin is used for positioning and orienting the end effector at the first point of the trajectory regardless of its initial position. The second stage applies DE/best/1/bin in order to emphasize the exploitation process and minimize the computational time to obtain the inverse kinematics due to the closeness that exists between the consecutive points that make up the trajectory. This combination of DE versions is another contribution of the proposed approach that speeds up considerably the search process by first prioritizing the exploration and then the exploitation, and this sequential application can be used to the solution of diverse constrained numerical optimization problems. Finally, the IKP for the IRB-1600 robot was solved as a case study considering two trajectories in its dexterous workspace, circular and Lissajous. The results generated by the proposed approach for the case study were simulated in the RoboDK R industrial robot simulator. INDEX TERMS Heuristic algorithms, differential evolution, optimization, inverse kinematics problem, trajectory tracking.
El presente ensayo se realizo en las instalaciones apicolas de la.Direccion General de Sanidad Ve... more El presente ensayo se realizo en las instalaciones apicolas de la.Direccion General de Sanidad Vegetal y Animal, Canton El.Matazano, Jurisdiccion de Soyapango, Departamento de San Salvador.Las condiciones climaticas promedio anuales son 23 °C, 76% de humedad, velocidad de vientos predominantes con rumbo norte 8.3 km por hora, nubosidad de 5.6 y luz solar de 8.2 horas por dia. El lugar esta a 650 msnm, con coordenadas 8S°10 longitud.Oeste y 13 °42'18 ". latitud norte. La investigacion duro 22 semanas, dividiendose en 3 fases: Trampeo y formacion de. nucleos,9 semanas; de campo,9 semanas, y de laboratorio, 4 semanas.Se trabajo con un diseno completamente al azar, con 5 tratamientos y 3 repeticiones cada uno, que fueron constituidas de 15 colmenas.El objetivo del ensayo fue sustituir el polen natural en la alimentacion de abejas, con tortas de soya, frijol, gandul y morro; estos fueron los 5 tratamientos y de ellos el polen se convirtio en el testigo.Los resultados obtenidos d...
Journal of Applied Engineering Science, 2021
Finding the inverse kinematic solution of a serial manipulator has always attracted the attention... more Finding the inverse kinematic solution of a serial manipulator has always attracted the attention of optimization enthusiasts, as the solution space is highly nonlinear and, depending on the number of degrees of freedom, has multiple solutions. In the literature, one can find several proposed solutions using heuristic techniques; however, for highly redundant manipulators, e.g., seven or more, the discussions focused on minimizing the positional error. In this paper, a metaheuristic approach is presented to solve not only the inverse kinematics of a 7 and 8 DOF manipulators but the proposed algorithm is used to find the robot's poses for trajectory planning where the robot is required to meet the desired position and orientation based on quaternion representation of each point along the path. The metaheuristic approach used in this paper is particle swarm optimization (PSO), where the unit quaternion is used in the objective function to find the orientation error. The results pr...
The main purpose of this research is to determine the level of gross motor coordination in childr... more The main purpose of this research is to determine the level of gross motor coordination in children of first grade of municipal educational institutions "Victor Andres Belaunde 1287" and "216-1285 Amauta II" district of Ate-Lima 2014, this study It has academic importance that will reveal the differences in gross motor coordination between two institutions. It is hypothesized: There are significant differences in the level of gross motor coordination in children of first grade of municipal educational institutions "Victor Andres Belaunde 1287" and "216-1285 Amauta II" district of Ate-Lima 2014. methodology is descriptive, with no comparative experimental design, sample was 50 children in first grade. For data collection the battery motor coordination was applied for Kids (Koorperkoordinations Test für Kinder-KTK). The results indicate, that with a confidence level of 95% was found that: There are significant differences in the level of gross motor coordination in children of first grade of municipal educational institutions "Victor Andres Belaunde 1287" and "Amauta II 216-1285 "district of Ate-Lima 2014 (being higher in the IEM Victor A. Belaunde 1287 p <0.05).