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Modelado cinemático y dinámico de un manipulador antropomórfico de cuatro grados de libertad
| Content Provider | Semantic Scholar |
|---|---|
| Author | Ibarra, Eddy Gabriel Enriquez, Manuel Alejandro Lozano, Yair Galvan, R. Maya, Mario Cesar |
| Copyright Year | 2019 |
| Abstract | In this paper, the kinematic and dynamic model of a 4 degree of freedom anthropomorphic robot manipulator are obtained by means of the Denavit Hartenberg convention and the Euler Lagrange formulation respectively. The kinematic model is used to construct the workspace of the robot manipulator. A software CAD -CAE is used to estimate the robot manipulator’s physical parameters. The dynamic model is proven to be valid via its comparison with the model obtain through the use of a computational tool which uses the Newton-Euler algorithm. |
| Starting Page | 116 |
| Ending Page | 123 |
| Page Count | 8 |
| File Format | PDF HTM / HTML |
| DOI | 10.29057/icbi.v7iespecial.4608 |
| Volume Number | 7 |
| Alternate Webpage(s) | https://repository.uaeh.edu.mx/revistas/index.php/icbi/article/download/4608/6535 |
| Alternate Webpage(s) | https://doi.org/10.29057/icbi.v7iespecial.4608 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |