<?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>1909-8367</journal-id>
<journal-title><![CDATA[Entre Ciencia e Ingeniería]]></journal-title>
<abbrev-journal-title><![CDATA[Entre Ciencia e Ingenieria]]></abbrev-journal-title>
<issn>1909-8367</issn>
<publisher>
<publisher-name><![CDATA[Universidad Católica de Pereira]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S1909-83672017000200084</article-id>
<title-group>
<article-title xml:lang="es"><![CDATA[Cinemática de velocidad y aceleración del robot serial Mitsubishi Movemaster RV-M1]]></article-title>
<article-title xml:lang="en"><![CDATA[Velocity and acceleration kinematics of the Mitsubishi Movemaster RV-M1 serial robot]]></article-title>
<article-title xml:lang="pt"><![CDATA[Cinemática de velocidade e aceleração do robô serial Mitsubishi Movemaster RV-M1]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Mercado]]></surname>
<given-names><![CDATA[L.D. Martínez]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Bolívar]]></surname>
<given-names><![CDATA[L. Martínez]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Mckinley]]></surname>
<given-names><![CDATA[J. Roldán]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Universidad del Atlántico  ]]></institution>
<addr-line><![CDATA[Barranquilla ]]></addr-line>
<country>Colombia</country>
</aff>
<aff id="Af2">
<institution><![CDATA[,Universidad del Atlántico  ]]></institution>
<addr-line><![CDATA[Barranquilla ]]></addr-line>
<country>Colombia</country>
</aff>
<aff id="Af3">
<institution><![CDATA[,Universidad del Atlántico  ]]></institution>
<addr-line><![CDATA[Barranquilla ]]></addr-line>
<country>Colombia</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>12</month>
<year>2017</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>12</month>
<year>2017</year>
</pub-date>
<volume>11</volume>
<numero>22</numero>
<fpage>84</fpage>
<lpage>94</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_arttext&amp;pid=S1909-83672017000200084&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_abstract&amp;pid=S1909-83672017000200084&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_pdf&amp;pid=S1909-83672017000200084&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="es"><p><![CDATA[Resumen: Se presenta la formulación explícita de la cinemática de velocidad y aceleración para el robot Movemaster RV-M1, a partir de su matriz de transformación de posición de la herramienta. Las ecuaciones permitieron la creación de una interfaz gráfica de usuario en Matlab para las simulaciones de trayectoria y cálculo de las velocidades y aceleraciones, tanto de la herramienta como de las juntas del robot. Una tarea cinemática asociada a un cordón lineal de soldadura vertical fue simulada en la interfaz, y posteriormente implementada en el robot usando los comandos y hardware originales del fabricante. En el experimento se utilizó un DAQ construido para medir las velocidades angulares de los elementos en el marco fijo. A partir de estas lecturas se validaron satisfactoriamente los resultados de la formulación matemática propuesta, no reportada previamente.]]></p></abstract>
<abstract abstract-type="short" xml:lang="en"><p><![CDATA[Abstract: The explicit formulation of the velocity and acceleration kinematics for the Movemaster RV-M1 robot is presented. The formulae are obtained from the tool position transformation matrix. The derived formulation allowed creating a Matlab graphical user interface for simulation of kinematic tasks and calculation of velocity and acceleration, for both tool and robot joints. A vertical linear weld type kinematic task was simulated and later carried out in the actual robot using programming commands and hardware provided by the manufacturer. An angular velocity DAQ was built to measure the velocities of the joints in the fixed coordinate system, and used in the experimental stage. From the results, a satisfactory validation of the mathematical formulae was made. The derived formulation for this robot was available had not been presented before.]]></p></abstract>
<abstract abstract-type="short" xml:lang="pt"><p><![CDATA[Resumo: É apresentada a formulação explícita da cinemática de velocidade e aceleração para o robô Movemaster RVM1, a partir de sua matriz de transformação de posição da ferramenta. As equações permitiram a criação de uma interface gráfi ca de usuário em Matlab para as simulações de trajetória e cálculo das velocidades e acelerações, tanto da ferramenta como das juntas do robô. Uma tarefa cinemática associada a um cordão linear de solda vertical foi simulada na interface, e posteriormente implementada no robô usando os comandos e hardware originais do fabricante. Na experiência, foi utilizado um DAQ construído para medir as velocidades angulares dos elementos num sistema de referência fi xo. A partir dessas leituras foram validados de forma satisfatória os resultados da formulação matemática proposta, não relatada anteriormente.]]></p></abstract>
<kwd-group>
<kwd lng="es"><![CDATA[Robótica]]></kwd>
<kwd lng="es"><![CDATA[cinemática de velocidad]]></kwd>
<kwd lng="es"><![CDATA[cinemática de aceleración]]></kwd>
<kwd lng="es"><![CDATA[DAQ velocidad]]></kwd>
<kwd lng="es"><![CDATA[Mitsubishi RV-M1]]></kwd>
<kwd lng="en"><![CDATA[Robotics]]></kwd>
<kwd lng="en"><![CDATA[velocity kinematics]]></kwd>
<kwd lng="en"><![CDATA[acceleration kinematics]]></kwd>
<kwd lng="en"><![CDATA[velocity DAQ]]></kwd>
<kwd lng="en"><![CDATA[Mitsubishi RV-M1]]></kwd>
<kwd lng="pt"><![CDATA[Robótica]]></kwd>
<kwd lng="pt"><![CDATA[Cinemática de velocidade]]></kwd>
<kwd lng="pt"><![CDATA[cinemática de aceleração]]></kwd>
<kwd lng="pt"><![CDATA[DAQ de velocidade]]></kwd>
<kwd lng="pt"><![CDATA[Mitsubishi RVM1]]></kwd>
</kwd-group>
</article-meta>
</front><back>
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