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

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

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Zaplana, I.; Claret, JA.; Basanez, L. (2018). Análisis Cinemático de Robots Manipuladores Redundantes: Aplicación a los Robots Kuka LWR 4+ y ABB Yumi. Revista Iberoamericana de Automática e Informática industrial. 15(2):192-202. https://doi.org/10.4995/riai.2017.8822

Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/143159

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Título: Análisis Cinemático de Robots Manipuladores Redundantes: Aplicación a los Robots Kuka LWR 4+ y ABB Yumi
Otro titulo: Kinematic analysis of redundant robotic manipulators: application to Kuka LWR 4+ and ABB Yumi
Autor: Zaplana, Isiah Claret, Josep Arnau Basanez, Luis
Fecha difusión:
Resumen:
[ES] 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 ...[+]


[EN] This paper presents a kinematic analysis of two redundant serial manipulators: Kuka LWR 4+ and ABB Yumi. This analysis includes the derivation of the forward kinematics for both manipulators as well as the solution ...[+]
Palabras clave: Kinematics , Inverse kinematic problem , Redundant manipulators , Singularities , Transformation matrices , Cinemática , Cinemática inversa , Manipuladores redundantes , Matrices de transformación , Singularidades
Derechos de uso: Reconocimiento - No comercial - Sin obra derivada (by-nc-nd)
Fuente:
Revista Iberoamericana de Automática e Informática industrial. (issn: 1697-7912 ) (eissn: 1697-7920 )
DOI: 10.4995/riai.2017.8822
Editorial:
Universitat Politècnica de València
Versión del editor: https://doi.org/10.4995/riai.2017.8822
Código del Proyecto:
info:eu-repo/grantAgreement/MINECO//DPI2014-57757-R/ES/ROBOTS MANIPULADORES MOVILES COMO CO-OPERARIOS: AUTONOMIA E INTERACCION EN LA COLABORACION HUMANO-ROBOT/
info:eu-repo/grantAgreement/MINECO//BES-2012-059884/ES/BES-2012-059884/
info:eu-repo/grantAgreement/MINECO//DPI2013-40882-P/ES/PRENSION Y MANIPULACION DIESTRA, MOVIL Y COOPERATIVA/
info:eu-repo/grantAgreement/MINECO//BES-2012-054899/ES/BES-2012-054899/
Agradecimientos:
Este trabajo ha sido realizado en parte gracias al apoyo de los proyectos DPI2013-40882-P, DPI2014-57757-R y las becas pre-doctorales BES-2012-059884 y BES-2012-054899.
Tipo: Artículo

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