OPTIMUS: Software for Efficient Manipulation and Control of Industrial Robots

Main Article Content

Michael Tovar Tovar
Andrés Eduardo Rivera Gómez
Pedro Daniel Hile Bustos
Ruthber Rodríguez Serrezuela


The article introduces an offline interaction software that exhibits the MR5 robot developed by the Corporación Universitaria del Huila - CORHUILA in its interface. This robot is an anthropomorphic system with 5 degrees of freedom. The primary purpose of this software is to enable interaction with the robot without needing its physical presence. This is achieved by planning different trajectories for the robot and obtaining a simulation of its physical behavior. After exporting and importing the data to the real-time control software called "Mach3", this simulation is performed. During this interaction, the previously planned movements of the robot are observed. The software interface presents a detailed tracking of the behavior of each of the robot's joint positions, including information about its velocity and acceleration. The kinematic and dynamic model and its analysis are obtained with due mathematical rigor.


Download data is not yet available.

Article Details

How to Cite
Tovar Tovar, M. ., Rivera Gómez, A. E., Hile Bustos, P. D., & Rodríguez Serrezuela, R. . (2023). OPTIMUS: Software for Efficient Manipulation and Control of Industrial Robots. I+ T+ C- Research, Technology and Science, 1(17). Retrieved from https://revistas.unicomfacauca.edu.co/ojs/index.php/itc/article/view/395
Research Papers


S. Keshavdas, T. D. Murphey, and A. M. Okamura, "Robotic Teleoperation with Haptic Feedback: A Comprehensive Review," in IEEE Transactions on Haptics, vol. 13, no. 3, pp. 409-426, July-Sept. 2020.

S. M. A. A. Zaidi, A. N. Al-Omari, and A. Al-Smadi, "Teaching Robotics: A Review of Pedagogies, Assessment, and Curriculum," in IEEE Access, vol. 8, pp. 130965-130977, 2020.

F. P. Ferreira, R. C. Marques, and F. M. Martins, "A Low-Cost Educational Robotic Arm with an Open-Source Software Interface," in IEEE Transactions on Education, vol. 63, no. 2, pp. 215-223, May 2020.

Zaplana I, Arnau C, J, Basanez L “Análisis Cinemático de robots Manipuladores Redundantes: Aplicación a los Robots Kuka LWR 4+ y ABB Yumi”, RIAI: Revista Iberoamericana de Automática e Informática industrial 15(2018) 192-202.

M. J. Mirzaei and F. C. Park, "A new geometric calibration method for Stewart platforms," 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018, pp. 1534-1539. doi: 10.1109/IROS.2018.8594217.

A. K. Pandey and P. K. Biswas, “A novel approach to plan smooth trajectory using cubic spline for robotic arm," 2021 International Conference on Computing, Communication and Signal Processing (ICCCSP), Chennai, India, 2021, pp. 1-5. Doi: 10.1109/ICCCSP51409.2021.9471159.

J. Wang, X. Ma and Y. Liu, "Dynamic Modeling and Simulation of a 3-DOF Parallel Robot Based on the Newton-Euler Method," 2021 IEEE International Conference on Mechatronics and Automation (ICMA), Tianjin, China, 2021, pp. 1110-1115. doi: 10.1109/ICMA52212.2021.9558674.