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Brazo Robótico - Aplicación

The document describes the kinematics of a 4 degree of freedom robotic arm. It provides the link lengths, joint limits, and forward and inverse kinematics calculations. The forward kinematics uses a Denavit-Hartenberg representation to calculate the transformation matrix relating the end effector to the base. The inverse kinematics calculations solve for each joint angle (q1, q2, q3, q4) based on the desired end effector position.

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51 views

Brazo Robótico - Aplicación

The document describes the kinematics of a 4 degree of freedom robotic arm. It provides the link lengths, joint limits, and forward and inverse kinematics calculations. The forward kinematics uses a Denavit-Hartenberg representation to calculate the transformation matrix relating the end effector to the base. The inverse kinematics calculations solve for each joint angle (q1, q2, q3, q4) based on the desired end effector position.

Uploaded by

EDITOR
Copyright
© © All Rights Reserved
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Download as DOCX, PDF, TXT or read online on Scribd
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BRAZO ROBTICO - APLICACIN

MEDICIONES FISICAS DEL ROBOT:

Longitudes de los Eslabones:

L1=7; L2=8; L3=8; L4=5; a1=1.5;

Topes Mecnicos:

M1: [0 ,180]
M2: [75, 180]
M3: [100, 180]
M4: [13, 40]

CINEMATICA DIRECTA

Parmetros D-H

Articulacin i i di ai 1
1 q1 L1 1 pi/2
2 q2 0 L2 0
3 2 pi q3 0 L3 0
4 q3 q2 0 L4 0
Matriz del Efector final T:
cos(thetai) cos(alphai) sin(thetai) sin(alphai) sin(thetai) ai cos(thetai)
sin(thetai) cos(alphai) cos(thetai) sin(alphai) cos(thetai) ai sin(thetai)
Ti = [ ]
0 sin(alphai) cos(alphai) di
0 0 0 1

T = T1 T2 T3 T4
Con respecto a la base fija la posicin del efector final ser:
0

( ) = T (0)
0
1 1
O podramos obtenerlo:

= T(1,4)
= T(2,4)
= T(3,4)

CINEMATICA INVERSA

Articulacin 1:

ry
q1 = tg 1 ( )
rx
c1 = cos(q1) ; s1 = sin(q1)
Articulacin 2:

rx = rx c1 + ry s1

R = (rz L1)2 + (rx L4 a1)2

R2 + L22 L32
c = cos() = ley de cosenos
2 L2 R

s = sin() = 1 c2
s
= tg 1 ( )
c
rz L1
= tg 1 ( )
rx L4 a1
q2 = +
Articulacin 3:

L22 + L32 R2
cm = cos(m) = ley de cosenos
2 L2 L3
m = 180 q3
c3 = cos(q3) = 1 cm

s3 = 1 c32
s3
q3 = tg 1 ( )
c3
Articulacin 4:

q4 = q3 q2

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