C. Aguilera’s scientific contributions

The use of robotic manipulators is a subject that has become relevant in the process of automation in different branches of industrial manufacturing. Today is possible to make routines works with robotic manipulator in dangerous conditions for human operators, providing flexibility in production lines, doing multiple types of tasks and executing actions with precision and quickly. All operations of a robotic arm is controlled by a computer system that controls the mechanism positions. Since the work of these machines is to manipulate tools or pieces, it is necessary to have tridimensional information of the environment or manipulated elements. In this work, the fringe projection technique is used to obtain three-dimensional shape of an object, and based on this information to generate the trajectories of the manipulator for the painting of complex objects through paint spraying. The obtained results have been successful, generating simulated trajectories for the painting of pieces with good quality and short times compared with times using traditional methods to program sequences.

The use of machining systems by Computer Numerical Control (CNC) has notable advantages in the area of industrial production compared with traditional techniques. This facilitates a significant decrease of time, higher precision and optimization of operation parameters. The control of sequences in these systems is based on codes that define the parameters to produce the machining of a determined piece. However, the generation of these codes presents two major challenges, first, know the tridimensional information of the piece to produce, and second, define the sequence by CNC machining. In this work, the fringe projection technique is used to obtain three-dimensional information from an object and based on this information, automatically generate programming codes for the machining routine of a three-axial CNC milling machine. The results are compared to apply the fringe projection technic to recover three-dimensional shape of an object based on Least Squares Algorithm, using information from three to eight images.