<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>0122-3461</journal-id>
<journal-title><![CDATA[Ingeniería y Desarrollo]]></journal-title>
<abbrev-journal-title><![CDATA[Ing. Desarro.]]></abbrev-journal-title>
<issn>0122-3461</issn>
<publisher>
<publisher-name><![CDATA[Fundación Universidad del Norte]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S0122-34612020000200364</article-id>
<article-id pub-id-type="doi">10.14482/inde.38.2.629.89</article-id>
<title-group>
<article-title xml:lang="es"><![CDATA[Movimiento de un robot PA10 por medio de una interfaz natural]]></article-title>
<article-title xml:lang="en"><![CDATA[Movement of a PA10 Robot Through a Natural Interface]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Dussán Muñoz]]></surname>
<given-names><![CDATA[Diego Manuel]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Bauzano Núñez]]></surname>
<given-names><![CDATA[Enrique]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Vivas Albán]]></surname>
<given-names><![CDATA[Oscar Andrés]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Universidad del Cauca  ]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>Colombia</country>
</aff>
<aff id="Af2">
<institution><![CDATA[,Universidad de Málaga  ]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>Spain</country>
</aff>
<aff id="Af3">
<institution><![CDATA[,Universidad del Cauca  ]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>Colombia</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>12</month>
<year>2020</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>12</month>
<year>2020</year>
</pub-date>
<volume>38</volume>
<numero>2</numero>
<fpage>364</fpage>
<lpage>381</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_arttext&amp;pid=S0122-34612020000200364&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_abstract&amp;pid=S0122-34612020000200364&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_pdf&amp;pid=S0122-34612020000200364&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="es"><p><![CDATA[Resumen Este artículo muestra la implementación de una interfaz natural y su sistema para el movimiento de un robot PA10 industrial. Con la finalidad de evaluar la utilidad de este tipo de interfaces y la diferencia que se presenta entre las trayectorias ingresadas y las ejecutadas por el robot mediante el uso de una metodología de desarrollo propia. Inicialmente se obtuvieron los modelos matemáticos del robot PA10 para simular su movimiento en el motor gráfico Unity 3D. Posteriormente, se adicionó el dispositivo de captura Leap Motion como elemento principal de la interfaz natural, y, a partir de ella, se realizó el seguimiento del movimiento de la palma de la mano del usuario durante la ejecución de diversas trayectorias, tanto en el software de simulación como en el robot real. Los resultados muestran un error de seguimiento bastante bajo entre las consignas deseadas y las trayectorias reales obtenidas del robot PA10.]]></p></abstract>
<abstract abstract-type="short" xml:lang="en"><p><![CDATA[Abstract This article shows the implementation of a natural interface, and its system, for the movement of an industrial PA10 robot. In order to evaluate the usefulness of this type of interfaces and the difference that occurs between the paths entered and tho se executed by the robot through the use of its own development methodology. First, the mathematical models of the PA10 ro bot were obtained in order to simulate its movement in the Unity 3D graphics engi ne. Subsequently, the Leap Motion capture device was added as the main element of the natural interface, and from it, the movement of the user&#8217;s palm during the execution of various trajectories was carried out, both in the software simulation as in the real robot. The results found a fairly low tracking error between the desired setpoints and the actual trajectories obtained from the PA10 robot.]]></p></abstract>
<kwd-group>
<kwd lng="es"><![CDATA[captura de gestos]]></kwd>
<kwd lng="es"><![CDATA[control de robots]]></kwd>
<kwd lng="es"><![CDATA[dispositivo Leap Motion]]></kwd>
<kwd lng="es"><![CDATA[interfaz natural]]></kwd>
<kwd lng="es"><![CDATA[robot PA10]]></kwd>
<kwd lng="es"><![CDATA[seguimiento de trayectorias]]></kwd>
<kwd lng="en"><![CDATA[gesture capture]]></kwd>
<kwd lng="en"><![CDATA[Leap Motion device]]></kwd>
<kwd lng="en"><![CDATA[natural interface]]></kwd>
<kwd lng="en"><![CDATA[PA10 robot]]></kwd>
<kwd lng="en"><![CDATA[robot control]]></kwd>
<kwd lng="en"><![CDATA[track tracking]]></kwd>
</kwd-group>
</article-meta>
</front><back>
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