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

页码：154 / 159

页数：6

共 19 条

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