El presente trabajo muestra el diseño, sintonización y aplicación de un controlador de presión PID (Proporcional, Integral y Derivativo) para una red de distribución de agua y la obtención de pruebas de laboratorio. Se lleva a cabo, el diseño y construcción del prototipo hidráulico, la obtención de datos y el modelado matemático de la planta, utilizando software de diseño mecánico (SolidWorks), instrumentación visual (LabView) y de herramienta matemática (Matlab). Aplicando un enfoque de control clásico para el sistema de control y por medio de la aplicación ‘PID Turner’ de Matlab, son obtenidos los parámetros proporcional, integral y derivativo sugeridos por la aplicación. Pruebas de control son realizadas para analizar el comportamiento de la presión en la red y el accionar de la válvula reguladora de presión (VRP), la cual, se encarga de regular de manera adecuada la presión ante perturbaciones que provocan bajas y altas presiones innecesarias.

The optimal placement of robotic manipulators within industrial workstations is a critical problem that directly affects task feasibility, accessibility, and operational efficiency. Improper base positioning can lead to joint saturation, reduced manipulability, and limited workspace utilization. This work presents an optimization framework for determining the optimal base placement of robotic manipulators by maximizing a joint-centering performance index based on the κ-index, which quantifies the proximity of joint variables to their allowable limits. The proposed methodology integrates geometric accessibility constraints with a constrained optimization formulation to ensure feasible robot configurations within the workspace. Three optimization strategies—constrained nonlinear programming, gradient projection methods, and genetic algorithms—are evaluated and compared in terms of solution quality and computational performance. Numerical simulations are conducted using a planar 2-DOF manipulator to illustrate the proposed framework and to analyze the influence of workspace geometry on optimal base placement. Additionally, an industrial case study involving the ABB IRB 120 robotic manipulator is presented to assess the practical applicability of the proposed approach. The results demonstrate that the optimization framework improves joint distribution within the allowable limits and enhances robot accessibility across the task workspace. The proposed method provides a practical tool for intelligent workstation design and robotic cell layout optimization in modern industrial environments.