English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

Resumen: En este trabajo se presenta un mÃ©todo para el modelado de cadenas cinemÃ¡ticas de robots que salva las dificultades asociadas a la elecciÃ³n de los sistemas de coordenadas y obtenciÃ³n de los parÃ¡metros de Denavit-Hartenberg. El mÃ©todo propuesto parte del conocimiento de la posiciÃ³n y orientaciÃ³n del extremo del robot en su configuraciÃ³n de reposo, para ir obteniendo en quÃ© se transforman Ã©stas tras los sucesivos movimientos de sus grados de libertad en secuencia descendente, desde el mÃ¡s alejado al mÃ¡s cercano a su base. Los movimientos son calculados en base a las Matrices de Desplazamiento, que permiten conocer en que se transforma un punto cuando Ã©ste es desplazado (trasladado o rotado) con respecto a un eje que no pasa por el origen. A diferencia del mÃ©todo de Denavit-Hartenberg, que precisa ubicar para cada eslabÃ³n el origen y las direcciones de los vectores directores de los sistemas de referencia asociados, el mÃ©todo basado en las Matrices de Desplazamiento precisa solo identificar el eje de cada articulaciÃ³n, lo que le hace mÃ¡s simple e intuitivo que aquel. La obtenciÃ³n de las Matrices de Desplazamiento y con ellas del Modelo CinemÃ¡tico Directo a partir de los ejes de la articulaciÃ³n, puede hacerse mediante algunas simples operaciones, fÃ¡cilmente programables. Abstract: In this paper, a new method for modelling kinematic chains in Robotics is presented. This method eludes the difficulties de- rived from selecting the coordinate frames required to obtain Denavit-Hartenberg parameters. The proposed method arises from knowing the position and orientation of the end-effector of the robot in its home position. This algorithm allows obtaining their transformations according to the successive variations of its degrees of freedom in descending order from the remotest to the closest to the base.The movements are calculated based on the Displacement Matrixes by determining in which point it is transformed when such point is displaced (rotated or moved) with respect to an axis that does not pass through the origin, which is different to the Denavit-Hartenberg method that requires locating the origin and the direction of the vectors that define the frame for each link.The method based on the Displacement Matrixes only re- quires identifying the axis of the joint, which allows identifying the modelling in a simpler and faster manner when compared to Denavit-Hartenberg.The Displacement Matrixes and the corresponding kinematic modeling are obtained based on the joint axes identification by using simple mathematical operations that are easily coded. Palabras clave: Modelo cinemÃ¡tico de robots, Denavit-Hartenberg, fÃ³rmula de rotaciÃ³n de Rodrigues, Keywords: Kinematics model, Denavit-Hartenberg, Rodriguesâ rotation formul

Modelado de Caden as Cinemáticas mediante Matrices de Desplazamiento. Una alternativa al método de Denavit-Hartenberg