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Modelado y control de manipuladores robóticos para aplicaciones biomédicas
| Content Provider | Semantic Scholar |
|---|---|
| Author | Rico, Zaira Pineda Martinez, Francisco J. Alcantar, Pedro Cruz |
| Copyright Year | 2015 |
| Abstract | Considering the physical similarities and performance requirements between the robot manipulator and the artificial prosthetic for the superior limb, most of the control schemes used in manipulators may be adapted to be used by prosthetic arms. This is why a robot manipulator can be considered as a good representation of the human arm and might be used as a platform to develop control strategies that can be used in prototypes of future artificial prosthetics. However, the design of suitable control strategies involves the consideration of mathematical representations of the system, such as kinematics and dynamics models. Mathematical modelling is fundamental in the designing process depending of the objectives of the implementation, the constraints of the task to be executed, and the desired robot’s performance. The difficulty in obtaining these models varies according to the complexity of the kinematics of the mechanical structure and the number of degrees of freedom (DOF) of the manipulator. |
| Starting Page | 1 |
| Ending Page | 15 |
| Page Count | 15 |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www.eumed.net/rev/tlatemoani/20/robot.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
