Estudio y Modelado de un Brazo Robótico Lego de Tres Grados de Libertad
DOI:
https://doi.org/10.21501/21454086.827Keywords:
Robótica, Cinemática Directa, Cinemática Inversa, Generación de trayectorias, Robot LegoAbstract
En este artículo se presenta el estudio y modelado de un brazo robótico lego de tres grados de libertad en asocio con sus respectivos modelos de su cinemática directa e inversa junto con una aproximación al análisis dinámico para la generación de trayectorias de este robot. Las ecuaciones que rigen el movimiento son deducidas de los modelos matemáticos propios a las cadenas cinemáticas y son implementadas en el lenguaje de programación Java y ejecutadas por el robot a través de la extensión Java -LeJOS.Downloads
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