Algoritmo para controlar un brazo antropomórfico usando una transformación lineal.

• Yadira Quiñonez ^[1] ; Oscar Zataraín ^[1] ; Carmen Lizárraga ^[1] ; Juan Peraza ^[1] ; Jezreel Mejía ^[2]
  1. [1] Universidad Autónoma de Sinaloa

     Universidad Autónoma de Sinaloa

     México

     
  2. [2] Mathematics Research Center

     Mathematics Research Center

     México

     
• Localización: RISTI: Revista Ibérica de Sistemas e Tecnologias de Informação, ISSN-e 1646-9895, Nº. 36, 2020, págs. 65-81
• Idioma: español
• DOI: 10.17013/risti.36.65-81
• Enlaces
  • Texto completo (pdf)
• Resumen
  • español

    En este artículo se propone un algoritmo para manipular un brazo antropomórfico utilizando una pantalla táctil LCD y una transformación lineal para obtener la trayectoria del brazo robótico, cinemática inversa y directa. Con la finalidad de que las personas con discapacidades físicas que tienen algún problema para mover sus cuerpos o simplemente no tienen la fuerza para moverlo puedan controlar el brazo robótico en las actividades cotidianas de una forma natural y fácil. La implementación del algoritmo se ha desarrollado en MATLAB, a través de esta simulación se visualiza la trayectoria del brazo robótico y la representación con las tres articulaciones que son movidas por motores paso a paso. El artículo termina con una discusión crítica de los resultados experimentales.

  • English

    In this paper proposes an algorithm to manipulate an anthropomorphic arm using an LCD touch screen and a linear transformation to obtain the trajectory robotic arm, inverse and direct kinematics. In order to people with physical disabilities who have an issue to move their bodies or simply do not have enough force to move it, can control the robotic arm in daily activities in a natural and easy way. The implementation of the algorithm has been developed in MATLAB, through this simulation the trajectory of the robotic arm is visualized and the representation with the three joints that are moved by stepper motors. The article ends with a critical discussion of the experimental results.

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