Cinemática de un Robot con Curvatura Constante

Resumen: En este trabajo se presenta una metodología para obtener el modelo cinemático de un robot altamente articulado, con curvatura constante. A diferencia de los modelos empleados usualmente en la literatura, el método propuesto puede ser aplicado tanto a robots que tienen eslabones rígidos, como para aquellos que son del tipo continuo. Además, este método no presenta el problema de singularidad que tienen los métodos basados en curvatura de arco.

¿Cómo citar?

Alberto A. Duarte, Ana Y. Aguilar–Bustos & M. C. Rodríguez–Liñán. Cinemática de un Robot con Curvatura Constante. Memorias del Congreso Nacional de Control Automático, pp. 273-278, 2018.

Palabras clave

Robótica y mecatrónica, modelado de sistemas, robots híper redundantes, curvatura constante, robots continuos, sistemas electromecánicos

• Bardou, B., Zanne, P., Nageotte, F., and de Mathelin, M. (2010). Control of a multiple sections flexible endoscopic system. In 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2345– 2350.
•  Chirikjian, G.S. (1992). Theory and applications of hyper redundant robotics manipulators. Ph.D. thesis, California Institute of Technology, Pasadena, California.
• Chirikjian, G.S. and Burdick, J.W. (1994). A modal approach to hyper-redundant manipulator kinematics. IEEE Transactions on Robotics and Automation, 10(3), 343–354.
• Godage, I.S., Guglielmino, E., Branson, D.T., MedranoCerda, G.A., and Caldwell, D.G. (2011). Novel modal approach for kinematics of multisection continuum arms. In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1093–1098.
• Godage, I.S. and Walker, I.D. (2015). Dual quaternion based modal kinematics for multisection continuum arms. In 2015 IEEE International Conference on Robotics and Automation (ICRA), 1416–1422.
• Gravagne, I.A. and Walker, I.D. (2002). Manipulability, force, and compliance analysis for planar continuum manipulators. IEEE Transactions on Robotics and Automation, 18(3), 263–273.
• Hannan, M. and Walker, I.D. (2001). Analysis and experiments with an elephant’s trunk robot. Advanced Robotics, 15(8).
• Hannan, M.W. and Walker, I.D. (2003). Kinematics and the implementation of an elephant’s trunk manipulator and other continuum style robots. Journal of Robotic Systems, 20(2), 45–63.
• Jones, B.A. and Walker, I.D. (2006). Kinematics for multisection continuum robots. IEEE Transactions on Robotics, 22(1), 43–55.
• Li, C. and Rahn, C. (2002). Design of continuous backbone, cable- driven robots. Journal of Mechanical Design, 124, 265–271.
• Lynch, K.M. and Park, F.C. (2017). Modern Robotics, Mechanics, Planning and Control. Cambridge University Press.
• McMahan, W., Jones, B.A., and Walker, I.D. (2005). Design and implementation of a multi-section continuum robot: Air-octor. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2578– 2585.
• Neppalli, S., Jones, B., McMahan, W., Chitrakaran, V., Walker, I., Pritts, M., Csencsits, M., Rahn, C., and Grissom, M. (2007). Octarm – a soft robotic manipulator. In 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2569–2569.
• Robert J. Webster, I. and Jones, B.A. (2010). Design and kinematic modeling of constant curvature continuum robots: A review. The International Journal of Robotics Research, 29(13), 1661–1683.
• Rucker, D.C. and III, R.J.W. (2011). Statics and dynamics of continuum robots with general tendon routing and external loading. IEEE Transactions on Robotics, 27(6), 1033–1044.
• Siciliano, B. and Khatib, O. (2008). Springer Handbook of Robotics. Springer-Verlag Berlin Heidelberg, 1 edition.
• Singh, I., Lakhal, O., and Merzouki, R. (2017). Towards extending forward kinematic models on hyperredundant manipulator to cooperative bionic arms. Journal of Physics: Conference Series, 783(1), 012056.
• Walker, I.D. (2013). Continuous backbone ”continuum” robot manipulators. ISRN Robotics, 2013, 1–19.
• Yigit, C.B. and Boyraz, P. (2017). Design and modelling of a cable-driven parallel-series hybrid variable stiffness joint mechanism for robotics. Mechanical Sciences, 8(1), 65–77.
• Zhao, Q. and Gao, F. (2010). Design and analysis of a kind of biomimetic continuum robot. In 2010 IEEE International Conference on Robotics and Biomimetics, 1316–1320.