Análisis Cinemático de Robots Manipuladores Redundantes: Aplicación a los Robots Kuka LWR 4+ y ABB Yumi

Isiah Zaplana, Josep Arnau Claret, Luis Basanez

Resumen

En este trabajo se presenta un análisis cinemático aplicado a dos manipuladores serie redundantes: el Kuka LWR 4+ y el ABB Yumi. En particular se deriva la cinemática directa para ambos manipuladores y se resuelve el problema de la cinemática inversa. Para el Kuka LWR 4+ dicha solución se obtiene en forma analítica, mientras que para el ABB Yumi se sigue un enfoque analítico y numérico. Además, se calculan simbólicamente tanto las singularidades del Kuka LWR 4+ como las direcciones singulares asociadas a estas. Este estudio contribuye al conocimiento cinemático de dos manipuladores redundantes de gran actualidad e interés para la comunidad robótica, y proporciona información útil para el diseño de diferentes algoritmos y leyes de control.


Palabras clave

Cinemática; cinemática inversa; manipuladores redundantes; matrices de transformación; singularidades

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Referencias

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