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Solução de cinemática híbrida para robô pantógrafo de três graus de liberdade

2022; Linguagem: Inglês

10.20906/cba2022/3709

2525-8311

Kassio Maciel Kienitz, Eduardo José Lima,

Control and Dynamics of Mobile Robots

This work aims to present a hybrid solution for kinematic models. For this purpose, the closed-form solution and the parametric Denavit-Hartenberg solution are combined. The robot geometry chosen is a four bars pantograph with three DOF. The mathematical model was developed and simulated using the software GNU Octave and tested on an embedded system. The motion command used is based on a real-time online kinematic translator that allows the use of a general Cartesian CNC to command a non-Cartesian robot. The kinematic model was validated by comparing a desired commanded trajectory to the translated, executed trajectory. This proved that the mathematical solution is simple enough to be implemented in a low-cost embedded system.