Abstract
Inverse kinematics solution for a six degree of freedom assistant robot will be presented in this work. Denavit-Hartenberg parameters and decoupling method will be used to find a closed solution for the robot. Novel approach to analyze torso and arm assistant robot will be described and inverse kinematics solution will be detailed. Arm Work-space and augmented work-space (including torso) will be compared. Experiments, simulations and results of the proposed algorithm will be presented as well as a discussion of them.
Supported by Corporación Unificada Nacional de Educación Superior.
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Becerra, Y., Soto, S. (2019). Decoupling Method to Solve Inverse Kinematics for Assistant Robot. In: Figueroa-GarcÃa, J., Duarte-González, M., Jaramillo-Isaza, S., Orjuela-Cañon, A., DÃaz-Gutierrez, Y. (eds) Applied Computer Sciences in Engineering. WEA 2019. Communications in Computer and Information Science, vol 1052. Springer, Cham. https://doi.org/10.1007/978-3-030-31019-6_35
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