Design and construction of an anthropomorphic robotic arm of seven degrees of freedom with kinematic and dynamic analysis based on genetic algorithms

Sanchez, Alexis; Teran, Andres; Ibarra, Alexander; Abatta, L.; Alulema, Darwin; Morocho, Derlin; Encalada, Francisco

doi:10.1109/ica-acca.2016.7778502

Cited by 4 publications

(6 citation statements)

References 10 publications

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“…Having all the individual matrices, we proceed to obtain the matrix 0T7 by solving (2) and thus obtain the mathematical model of direct kinematics with the matrix named in Tt, which is the same as 0T7 in the literature. (3) shows the last matrix without evaluation and without being simplified. Figure 3b shows the Matlab simulation for the manipulator.…”

Section: Matrix Resolutionmentioning

confidence: 99%

“…For this, references were consulted about the last 5 years from three libraries (IEEExplore, IOPScience and ACM Digital Library). Figure 1 shows the line time of the investigations that have as title "Seven Degrees of Freedom" in the last two years this topic has increase its interest [1][2][3][4][5][6][7][8][9][10]. Within this review of references, 10 articles were found, which were divided into three main topics.…”

Section: Introductionmentioning

confidence: 99%

“…Within this review of references, 10 articles were found, which were divided into three main topics. This highlights the development in Matlab of the angular displacements of the actuators through genetic algorithms, through a graphical interface and the construction of the manipulator [3]. Therefore, the articles describing applications of 7-DOF [1][2][3] were placed in the first topic.…”

Section: Introductionmentioning

confidence: 99%

“…This highlights the development in Matlab of the angular displacements of the actuators through genetic algorithms, through a graphical interface and the construction of the manipulator [3]. Therefore, the articles describing applications of 7-DOF [1][2][3] were placed in the first topic. The study of the kinematics and dynamics of these manipulators is the most developed topic, proposing templates and methods based on 40% of the Denavit Hartenberg (D-H) algorithm [4][5][6][7][8].…”

Section: Introductionmentioning

confidence: 99%

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Mathematical Model Design for a 7-DOF robot and 6-DOF comparison simulation

Ordonez-Avila

Midence

Магомедов

2022

IOP Conf. Ser.: Mater. Sci. Eng.

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Currently, serial manipulators are the boom in the industry. Most companies are looking for solutions that improve production processes and that are human collaborative. They seek to simulate the skills that humans perform. Nowadays there is a constant question of comparison between a redundant robot of 7-DOF and one that meets the necessary joints to perform complex jobs useful in the industry as is the 6-DOF. In this paper we design a mathematical model that describes the forwards kinematics of the 7-DOF manipulator using the famous D-H convention and determine if the kinematic chain of the manipulators interferes in the performance of their work and thus reach a comparison with its predecessor of 6-DOF in the industry by means of a simulation in CoppeliaSim. As the main results the 6-DOF is more useful for repetitive production assignments and the 7-DOF for human collaboration.

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Section: Matrix Resolutionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Mathematical Model Design for a 7-DOF robot and 6-DOF comparison simulation

Ordonez-Avila

Midence

Магомедов

2022

IOP Conf. Ser.: Mater. Sci. Eng.

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“…Distance After obtaining the data of each movement, it will be proceed to determine the homogeneous transformational matrices through equation 1 [19,14,24].…”

Section: A Imentioning

confidence: 99%

Kinematic model of the scorbot 4PC manipulator implemented in Matlab's Guide

Trujillo¹,

Serrezuela²,

Azhmyakov³

et al. 2018

ces

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This paper will discuss the development and implementation of the direct and inverse kinematics models with five degrees of freedom manipulator robot (5 D.O.F) Scorbot ER 4PC , under an interface designed in Matlab. For the analysis of the Direct Kinematic Model (DKM), parameters and homogeneous transformation of Denvit Hartenverg are used, and for the Inverse Kinematic Model (IKM) an algebraic solution is used, which must be manipulate directly the equations found in DKM. These models are processed in Matlab, where they will have a graphical

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