| Revue: | Computación y sistemas |
| Base de datos: | PERIÓDICA |
| Número de sistema: | 000388895 |
| ISSN: | 1405-5546 |
| Autores: | Carbajal Espinosa, Oscar1 González Jiménez, Luis2 Oviedo Barriga, José3 Castillo Toledo, Bernardino4 Loukianov, Alexander4 Bayro Corrochano, Eduardo4 |
| Instituciones: | 1Instituto Tecnológico y de Estudios Superiores de Monterrey, Guadalajara, Jalisco. México 2Instituto Tecnológico y de Estudios Superiores de Occidente, Guadalajara, Jalisco. México 3Universidad Veracruzana, Ciudad Mendoza, Veracruz. México 4Instituto Politécnico Nacional, Centro de Investigación y de Estudios Avanzados, Guadalajara, Jalisco. México |
| Año: | 2015 |
| Periodo: | Jul-Sep |
| Volumen: | 19 |
| Número: | 3 |
| Paginación: | 475-486 |
| País: | México |
| Idioma: | Inglés |
| Tipo de documento: | Artículo |
| Enfoque: | Experimental, aplicado |
| Resumen en inglés | Controlling the pose of a manipulator involves finding the correct configuration of the robot's elements to move the end effector to a desired position and orientation. In order to find the geometric relationships between the elements of a robot manipulator, it is necessary to define the kinematics of the robot. We present a synthesis of the kinematical model of the pose for this type of robot using the conformal geometric algebra framework. In addition, two controllers are developed, one for the position tracking problem and another for the orientation tracking problem, both using an error feedback controller. The stability analysis is carried out for both controllers, and their application to a 6-DOF serial manipulator and the legs of a biped robot are presented. By proposing the error feedback and Lyapunov functions in terms of geometric algebra, we are opening a new venue of research in control of manipulators and robot legs that involves the use of geometric primitives, such as lines, circles, planes, spheres |
| Disciplinas: | Ciencias de la computación, Ingeniería |
| Palabras clave: | Ingeniería biónica y cibernética, Miembros artificiales, Visión por computadora, Control pose, Manipuladores seriales, Modelos cinemáticos, Algebra geométrica |
| Keyword: | Computer science, Engineering, Bionics and cybernetics, Artificial limbs, Computer vision, Pose control, Serial manipulators, Kinematic models, Geometric algebra |
| Texte intégral: | Texto completo (Ver HTML) |
