Por favor, use este identificador para citar o enlazar este ítem: https://repositorio.uti.edu.ec//handle/123456789/3393
Registro completo de metadatos
Campo DC Valor Lengua/Idioma
dc.contributor.authorVarela-Aldás, José-
dc.contributor.authorAyala-Chauvin, Manuel-
dc.contributor.authorAndaluz, Víctor-
dc.contributor.authorSantamaría, Marlon-
dc.date.accessioned2022-06-29T14:48:52Z-
dc.date.available2022-06-29T14:48:52Z-
dc.date.issued2020-
dc.identifier.urihttps://link.springer.com/chapter/10.1007/978-3-030-40690-5_23-
dc.identifier.urihttp://repositorio.uti.edu.ec//handle/123456789/3393-
dc.description.abstractRedundant manipulative robots are characterized by greater manipulability improving performance but complicating inverse kinematics, on the other hand, optimization techniques allow solving complex problems in robotics applications with greater efficiency. This paper presents the inverse kinematics of a redundant manipulative robot with four degrees of freedom to track a desired trajectory, and considering constraint in manipulability. The optimization problem is proposed using the quadratic position errors of the operative end and the constraint is established by a manipulability index, for this the kinematic model of the robot is determined. The results show the points of singularity of the robot and the performance of the proposal implemented, observing the positional errors and the manipulability for each point of the trajectory. In addition, the optimization is evaluated for two desired manipulability values. Finally, it is concluded that the implemented method optimizes the inverse kinematics to track the desired path while constraining the manipulability. © Springer Nature Switzerland AG 2020.es
dc.language.isoenges
dc.publisherAdvances in Intelligent Systems and Computing. Volume 1137 AISC, Pages 233 - 242. International Conference on Information Technology and Systems, ICITS 2020. Bogota. 5 February 2020 through 7 February 2020es
dc.rightsopenAccesses
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/es
dc.titleInverse kinematics of a redundant manipulator robot using constrained optimizationes
dc.typearticlees
Aparece en las colecciones: Artículos Científicos Indexados

Ficheros en este ítem:
No hay ficheros asociados a este ítem.


Este ítem está sujeto a una licencia Creative Commons Licencia Creative Commons Creative Commons