Kinematic model of the scorbot 4PC manipulator implemented in Matlab's Guide

Trujillo, Jorge Luis Aroca; Serrezuela, Ruthber Rodríguez; Azhmyakov, Vadim; Zamora, Roberto Sagaró

doi:10.12988/ces.2018.8112

Cited by 9 publications

(4 citation statements)

References 16 publications

(19 reference statements)

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“…Design of experiments (DOE) has been frequently applied to optimize different processes because of its various advantages including reduction in the number of experiments, which results in lower consumption of materials and significantly less laboratory work [10] [11]. Response surface methodology (RSM) is an effective optimization tool wherein many factors and their interactions can be identified with fewer experimental trials [12].…”

Section: Introductionmentioning

confidence: 99%

Optimization of the mechanical properties of biofilm based on alginate - gellan plasticized with glycerol

González-Cuello¹,

Mogollon²,

Berrio-Guzman³

et al. 2018

ces

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Objective: In this study, a Box-Behnken design was employed in order to optimize the concentration of sodium alginate (SA), low acyl gellan (LAG) and glycerol (GLY) as a function of tensile strength (TS) and elongation at break (EB) of the biofilms. Methods: A texturometer Shimadzu model EZ-Test EZ-S was employed to evaluate TS and EB by using constant displacement control with a crosshead speed of 30 mm/min. Rafael E. González-Cuello et al. Results: The regression model developed herein indicates that the selected variables were statistically determinants (p < 0.05) for the studied mechanical properties. The optimal concentration to obtain high TS values (134.38 MPa) were 1.00% (w/v) of SA, 1.00% (w/v) of LAG and 8.00% (v/v) of GLY. However, low values of EB (15.95%) were also obtained using the same concentrations of AS, GBA and GLY. Conclusions: By increasing the concentration of SA and LAG result in highly resistant biofilms with low flexibility while increasing the glycerol concentration and reducing the concentration of biopolymers yielded the opposite effect. The Box-Behnken design is a useful statistical method for improving the mechanical properties studied depending on the final application of the biofilms.

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Section: Introductionmentioning

confidence: 99%

Optimization of the mechanical properties of biofilm based on alginate - gellan plasticized with glycerol

González-Cuello¹,

Mogollon²,

Berrio-Guzman³

et al. 2018

ces

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“…Based on this consideration, the quaternion that defines the operator is always a normalized quaternion or unit quaternion of the form; Aq 2 +|q| 2 = 1 alogousto cos 2 θ+sin 2 θ = 1 in where θ it is defined and satisfies the constraint π<θ#π. The product of quaternion when p = cos (α)+ksin (α) and q = cos (β)+ksin (β) is defined as the product special of quaternions and is written: (Corke, 2017;Trujillo et al, 2017Trujillo et al, , 2018 The triple quaternion product expressed qºvºq* are interpreted as quaternion rotation operators. For get qaternion rotate operators from a vector in space |R|* It is necessary that the vector in consideration.…”

Section: Resultsmentioning

confidence: 99%

“…Based on the above considerations we have the following theorem: for any unitary quaternion of the form q = q o +q = cosθ+sinθ and for any vector v0R 3 la action of the operator LqV = qVq* on v can be interpreted geometrically as a rotation 2 of vector v about q as the axis of rotation (Kuipers, 1998;Trujillo et al, 2017Trujillo et al, , 2018. Figure 3 C Null displacement and rotation θ 0 around Z 0 :P 1 (Null) and R 1 (Z 0 , θ 0 ) C Displacement of O 0 a distance d 1 along Y 0 and rotation θ 1 around Z 1 arriving at the system O 1 :P 2 (Y 0 , d 1 ) and R 2 (Z 1 , θ 1 ) C Displacement of O 1 a distance d 2 along Y1 and rotation θ 2 around Z 2 arriving at the system O 2 :P 3 (Y 1 , d 2 ) and R 3 (Z 2 , θ 2 ) C Displacement of O 2 a distance d 3 along -Z 2 and rotation θ 3 around Z 3 arriving at the system O 3 :P 4 (-Z 2 , d 3 ) and R 4 (Z 3 , θ 3 )…”

Section: Resultsmentioning

confidence: 99%

Mathematical Model of the March of a Bipedal Robot Applying Quaternions Oriented to the Development of Anthropomorphic Robots

Trujillo¹,

Vazquez²,

Serrezuela³

2019

J. Eng. Appl. Sci.

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Humans have characteristic movements in the legsthatt end to be discontinuous with respect to the ground have the ability to evade obstacles, move on planes that have some degree of inclination and ascend/ descend stairs. Bipedal robots have a certain adaptation to a wide variety of surfaces where humans do the essential to live and work, a clear example can be seen when transported objects where we notice the recovery and movement in dangerous environments, among others. The main objective of this study is the development to make a mathematical model of the kinematics of a biped robot.

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“…Kinematics analysis on robot arms has been used in many studies using several methods. The methods used in forward kinematics are geometric, homogeneous transformation matrices, quaternions, and Euler-angles, while in inverse kinematics the methods are geometric approach, kinematic decoupling, and algebraic method [6]. Research [7] and [8] used the Denavit-Haternberg method in analyzing forward kinematics on a 6-DoF robot arm.…”

Section: Introductionmentioning

confidence: 99%

Forward and inverse kinematics modeling of 3-DoF AX-12A robotic manipulator

Widyacandra

Tahtawi

Martin

2022

JITEL

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The presence of robots that can assist humans with heavy or dangerous work makes the need for robots more pressing at the moment. One type of robot needed is a robot arm, which is widely used in the manufacturing industry, such as in the assembly process and pick and place. The types of robotic arms used vary both in terms of configuration and the number of degrees of freedom. However, with different types of robotic arms, different models of movement are used. Therefore, research related to the modeling of the robotic arm continues to be carried out to obtain the appropriate movement of the robotic arm. One of the methods used as a first step in designing a robotic arm movement model is kinematics analysis. Kinematics analysis aims to analyze the movement of the robot arm without knowing what force causes the movement. This paper aims to produce an ideal movement model for the AX-12A 3-DoF robotic arm using forward kinematic and inverse kinematic analysis using two methods, the Denavit-Haterberg method and the geometric approach method. The difference from other papers is that this paper makes the kinematics model using Robotic, Vision, and Control (RVC) tools based on the Peter I. Corke model on MATLAB software first before implementing it on hardware. The results show that the error percentage for the forward kinematic model is 1.04% and the inverse kinematic is 0.76%, which means the two models achieved the target that the model’s error maximum must be less than 2%.

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Kinematic model of the scorbot 4PC manipulator implemented in Matlab's Guide

Cited by 9 publications

References 16 publications

Optimization of the mechanical properties of biofilm based on alginate - gellan plasticized with glycerol

Optimization of the mechanical properties of biofilm based on alginate - gellan plasticized with glycerol

Mathematical Model of the March of a Bipedal Robot Applying Quaternions Oriented to the Development of Anthropomorphic Robots

Forward and inverse kinematics modeling of 3-DoF AX-12A robotic manipulator

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