Delta Robot Kinematics Analys based on Multibody Formulation

被引：0
|
作者：
Cardona, Manuel [1 ]
机构：
[1] Univ Don Bosco, Res Dept, San Salvador, El Salvador
来源：
2023 IEEE INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND APPLIED NETWORK TECHNOLOGIES, ICMLANT | 2023年
关键词：
Direct Kinematics; Inverse Kinematics; Jacobian; Multibody Formulation; Quaternions; Simulator;
D O I：
10.1109/ICMLANT59547.2023.10372985
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
The present article provides a comprehensive analysis of the kinematics of the Delta parallel robot. A new methodology is introduced to address the direct kinematics problem based on a multibody formulation. A new algorithm to find the solution to direct kinematics using a numerical method is proposed. Then, the workspace is determined. Moreover, a simulator and a prototype are presented, MATLAB as a tool for simulation and programming is used.
引用
收藏
页码：154 / 159
页数：6
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