Modelamiento Cinemático Aproximado de un Prototipo de Robot Equino de 6 Grados de Libertad Para un Simulador de Tiro
This article shows the design, analysis and manufacturing of one equine robot prototype with six degrees of freedom along with the development and implementation of control software. This software has the purpose to drive and to calculate the robot kinematics. All of this allows studding the element...
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| Other Authors: | , |
| Format: | article |
| Language: | English |
| Published: |
2018
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| Online Access: | https://knepublishing.com/index.php/KnE-Engineering/article/view/1457 http://ridda2.utp.ac.pa/handle/123456789/4331 |
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| _version_ | 1869652475492958208 |
|---|---|
| author | Ramírez, Jaime Eduardo Andrade |
| author2 | Rubio, Yeison Andrey Gómez Rivera, Diego Andrés Carranza |
| author2_role | author author |
| author_browse | Ramírez, Jaime Eduardo Andrade Rivera, Diego Andrés Carranza Rubio, Yeison Andrey Gómez |
| author_facet | Ramírez, Jaime Eduardo Andrade Rubio, Yeison Andrey Gómez Rivera, Diego Andrés Carranza |
| author_role | author |
| collection | Repositorio Institucional de documento digitales de acceso abierto de la UTP |
| dc.contributor.none.fl_str_mv | |
| dc.creator.none.fl_str_mv | Ramírez, Jaime Eduardo Andrade Rubio, Yeison Andrey Gómez Rivera, Diego Andrés Carranza Ramírez, Jaime Eduardo Andrade Rubio, Yeison Andrey Gómez Rivera, Diego Andrés Carranza |
| dc.date.none.fl_str_mv | 2018-02-11 2018-02-23T17:16:28Z 2018-02-23T17:16:28Z |
| dc.format.none.fl_str_mv | application/msword application/pdf application/xml |
| dc.identifier.none.fl_str_mv | https://knepublishing.com/index.php/KnE-Engineering/article/view/1457 10.18502/keg.v3i1.1457 http://ridda2.utp.ac.pa/handle/123456789/4331 |
| dc.language.none.fl_str_mv | eng |
| dc.publisher.none.fl_str_mv | KnE Publishing |
| dc.relation.none.fl_str_mv | https://knepublishing.com/index.php/KnE-Engineering/article/view/1457/3267 https://knepublishing.com/index.php/KnE-Engineering/article/view/1457/3517 https://knepublishing.com/index.php/KnE-Engineering/article/view/1457/3518 |
| dc.rights.none.fl_str_mv | info:eu-repo/semantics/openAccess https://creativecommons.org/licenses/by/4.0/ |
| dc.source.none.fl_str_mv | 2518-6841 KnE Engineering; 6th Engineering, Science and Technology Conference - Panama 2017 (ESTEC 2017); 532-542 reponame:Repositorio Institucional de documento digitales de acceso abierto de la UTP instname:Universidad Tecnológica de Panamá instacron:U Tecnológica de Panamá |
| dc.title.none.fl_str_mv | Modelamiento Cinemático Aproximado de un Prototipo de Robot Equino de 6 Grados de Libertad Para un Simulador de Tiro |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion |
| description | This article shows the design, analysis and manufacturing of one equine robot prototype with six degrees of freedom along with the development and implementation of control software. This software has the purpose to drive and to calculate the robot kinematics. All of this allows studding the elements necessaries to make a simulator of shots for riders that can be used in education areas as a tool of didactic support in the courses in the police national of Colombia, ensuring that the riders do not suffer physical and psychological injuries during their formation and avoiding hurting the horses in the training of that courses. In addition, the riders can interact and experiment of safety way every situation that they could find in real practice. The system is based on the kinematic study according to the Denavit-Hartenberg algorithm, approximate simulation using Kinematic-ARM® and the mathematic medeling in the Matlab® programming environment. All tecniques give aproximate results of location of the manipulator tool. Finally, it is possible to validate and analising the results comparing the practical and theoric values to determine the TCP error estimated in each movement.Keywords: Direct kinematics, equine robot, Denavit-Hartenberg (D-H), Degrees of Freedom (DOF), Tool Center Point (TCP). |
| eu_rights_str_mv | openAccess |
| format | article |
| id | lrtest_d030f05d71364ffa33d10db5e16d6a36 |
| identifier_str_mv | 10.18502/keg.v3i1.1457 |
| instacron_str | U Tecnológica de Panamá |
| institution | U Tecnológica de Panamá |
| instname_str | Universidad Tecnológica de Panamá |
| language | eng |
| network_acronym_str | lrtest |
| network_name_str | lr |
| oai_identifier_str | oai:ridda2.utp.ac.pa:123456789/4331 |
| publishDate | 2018 |
| publishDateSort | 2018 |
| publisher.none.fl_str_mv | KnE Publishing |
| reponame_str | Repositorio Institucional de documento digitales de acceso abierto de la UTP |
| repository.mail.fl_str_mv | |
| repository.name.fl_str_mv | |
| repository_id_str | |
| rights_invalid_str_mv | https://creativecommons.org/licenses/by/4.0/ |
| spelling | Modelamiento Cinemático Aproximado de un Prototipo de Robot Equino de 6 Grados de Libertad Para un Simulador de TiroRamírez, Jaime Eduardo AndradeRubio, Yeison Andrey GómezRivera, Diego Andrés CarranzaRamírez, Jaime Eduardo AndradeRubio, Yeison Andrey GómezRivera, Diego Andrés CarranzaThis article shows the design, analysis and manufacturing of one equine robot prototype with six degrees of freedom along with the development and implementation of control software. This software has the purpose to drive and to calculate the robot kinematics. All of this allows studding the elements necessaries to make a simulator of shots for riders that can be used in education areas as a tool of didactic support in the courses in the police national of Colombia, ensuring that the riders do not suffer physical and psychological injuries during their formation and avoiding hurting the horses in the training of that courses. In addition, the riders can interact and experiment of safety way every situation that they could find in real practice. The system is based on the kinematic study according to the Denavit-Hartenberg algorithm, approximate simulation using Kinematic-ARM® and the mathematic medeling in the Matlab® programming environment. All tecniques give aproximate results of location of the manipulator tool. Finally, it is possible to validate and analising the results comparing the practical and theoric values to determine the TCP error estimated in each movement.Keywords: Direct kinematics, equine robot, Denavit-Hartenberg (D-H), Degrees of Freedom (DOF), Tool Center Point (TCP).KnE Publishing2018-02-112018-02-23T17:16:28Z2018-02-23T17:16:28Zinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/mswordapplication/pdfapplication/xmlhttps://knepublishing.com/index.php/KnE-Engineering/article/view/145710.18502/keg.v3i1.1457http://ridda2.utp.ac.pa/handle/123456789/43312518-6841KnE Engineering; 6th Engineering, Science and Technology Conference - Panama 2017 (ESTEC 2017); 532-542reponame:Repositorio Institucional de documento digitales de acceso abierto de la UTPinstname:Universidad Tecnológica de Panamáinstacron:U Tecnológica de Panamáenghttps://knepublishing.com/index.php/KnE-Engineering/article/view/1457/3267https://knepublishing.com/index.php/KnE-Engineering/article/view/1457/3517https://knepublishing.com/index.php/KnE-Engineering/article/view/1457/3518info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by/4.0/oai:ridda2.utp.ac.pa:123456789/43312021-07-06T16:47:37Z |
| spellingShingle | Modelamiento Cinemático Aproximado de un Prototipo de Robot Equino de 6 Grados de Libertad Para un Simulador de Tiro Ramírez, Jaime Eduardo Andrade |
| status_str | publishedVersion |
| title | Modelamiento Cinemático Aproximado de un Prototipo de Robot Equino de 6 Grados de Libertad Para un Simulador de Tiro |
| title_full | Modelamiento Cinemático Aproximado de un Prototipo de Robot Equino de 6 Grados de Libertad Para un Simulador de Tiro |
| title_fullStr | Modelamiento Cinemático Aproximado de un Prototipo de Robot Equino de 6 Grados de Libertad Para un Simulador de Tiro |
| title_full_unstemmed | Modelamiento Cinemático Aproximado de un Prototipo de Robot Equino de 6 Grados de Libertad Para un Simulador de Tiro |
| title_short | Modelamiento Cinemático Aproximado de un Prototipo de Robot Equino de 6 Grados de Libertad Para un Simulador de Tiro |
| title_sort | Modelamiento Cinemático Aproximado de un Prototipo de Robot Equino de 6 Grados de Libertad Para un Simulador de Tiro |
| url | https://knepublishing.com/index.php/KnE-Engineering/article/view/1457 http://ridda2.utp.ac.pa/handle/123456789/4331 |