Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/76107
Título: | A recursive algorithm for the forward kinematic analysis of robotic systems using euler angles |
Autor(es): | Gonçalves, João Fernando Ferreira Ribeiro, Tiago A. Ribeiro, A. Fernando Lopes, Gil Flores, Paulo |
Palavras-chave: | Forward kinematics Computational mechanics Robot manipulator kinematics 3D robot modeling |
Data: | Jan-2022 |
Editora: | MDPI |
Revista: | Robotics |
Resumo(s): | Forward kinematics is one of the main research fields in robotics, where the goal is to obtain the position of a robot’s end-effector from its joint parameters. This work presents a method for achieving this using a recursive algorithm that builds a 3D computational model from the configuration of a robotic system. The orientation of the robot’s links is determined from the joint angles using Euler Angles and rotation matrices. Kinematic links are modeled sequentially, the properties of each link are defined by its geometry, the geometry of its predecessor in the kinematic chain, and the configuration of the joint between them. This makes this method ideal for tackling serial kinematic chains. The proposed method is advantageous due to its theoretical increase in computational efficiency, ease of implementation, and simple interpretation of the geometric operations. This method is tested and validated by modeling a human-inspired robotic mobile manipulator (CHARMIE) in Python. |
Tipo: | Artigo |
URI: | https://hdl.handle.net/1822/76107 |
DOI: | 10.3390/robotics11010015 |
ISSN: | 2218-6581 |
Versão da editora: | https://www.mdpi.com/2218-6581/11/1/15 |
Arbitragem científica: | yes |
Acesso: | Acesso restrito UMinho |
Aparece nas coleções: | CMEMS - Artigos em revistas internacionais/Papers in international journals |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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robotics-11-00015.pdf Acesso restrito! | Artigo publicado | 12,78 MB | Adobe PDF | Ver/Abrir |