Due to the complexity of manipulator robots, the trajectory tracking task is very challenging. Most of the current algorithms depend on the robot structure or its number of degrees of freedom (DOF). Furthermore, the most popular methods use a Jacobian matrix that suffers from singularities. In this work, the authors propose a general method to solve the trajectory tracking of robot manipulators using metaheuristic optimization methods. The proposed method can be used to find the best joint configuration to minimize the end-effector position and orientation in 3D, for robots with any number of DOF.

Today, we are experiencing what it is being labelled as the Fourth Industrial Revolution (Industry 4.0) in terms of automation and control systems of cyberphysical production environments. These systems not only allow access to many innovative features based on network connections, but they also provide access to the world of the Internet of Things (IoT). It is in this context that IoT changes the ways to link new technologies in order to obtain more efficient, intelligent, flexible and adaptable production systems; thus becoming an interdependence of the product itself that the companies wish to commercialize. Cyber-Physical Production Systems ResumenActualmente experimentamos la cuarta Revolución Industrial (Industry 4.0) en tér-minos de sistemas físicos cibernéticos, estos sistemas de automatización y control permiten acceder a muchas funcionalidades innovadoras en base a las conexiones de red y a su acceso al mundo del Internet, es en este contexto IoT cambia la manera de relacionar las nuevas tecnologías para así obtener sistemas en que la producción sean más eficientes, flexibles y adaptables e inteligentes; convirtiéndose en dependencia del producto que las empresas desean comercializar. CPPS tiene las ventajas de las comunicaciones granulares, ancho de banda eléctrico común para todos los usuarios How to cite this article: Félix M. Murillo and Darío J. Díaz, (2018), "Arquitectura inteligente CPPS integrada en el uso de la Norma IEC-61499, con bloque de funciones altamente adaptables en la Industria 4