Síntesis Cinemática Anudada

Resumen: De acuerdo con la teoría de nudos, las trayectorias tridimensionales de un sistema dinámico se pueden analizar y clasificar mediante su estructura topológica. Existen ecuaciones paramétricas que generan trayectorias anudadas, dichas ecuaciones son muy parecidas a las utilizadas en robótica. En el presente trabajo se modifica la cinemática directa del péndulo robot y del robot RR de acuerdo con las ecuaciones de los nudos tóricos, dichas modificaciones se realizan para que el extremo final del robot genere trayectorias anudadas específicas.

¿Cómo citar?

D. E. Rivas-Cisneros, D. A. Diaz-Romero & Angel Rodriguez-Liñan. Síntesis Cinemática Anudada. Memorias del Congreso Nacional de Control Automático, pp. 279-284, 2018.

Palabras clave

Teoría de nudos, Invariante topológico, Nudos, Sistemas dinámicos, Síntesis de cinemática directa

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