Inverse Kinematics for Synchronization of Three Degrees of Freedom Robots: Techniques and Applications

Autores:
Salazar, Griselle
Loyola, Oscar
Villaroel, Eduardo
Sandoval-Yañez, Claudia
Tipo de recurso:
Article of journal
Fecha de publicación:
2024
Institución:
Universidad Pedagógica y Tecnológica de Colombia
Repositorio:
RiUPTC: Repositorio Institucional UPTC
Idioma:
OAI Identifier:
oai:repositorio.uptc.edu.co:001/21585
Acceso en línea:
https://repositorio.uptc.edu.co/handle/001/21585
https://doi.org/10.19053/uptc.01211129.v33.n69.2024.18055
Palabra clave:
MPC
Inverse kinematics
Robotic manipulators
Cinemática inversa
Manipulador robótico
Rights
openAccess
License
Griselle Salazar, Oscar Loyola, Eduardo Villaroel, Claudia Sandoval-Yañez - 2024
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network_acronym_str REPOUPTC2
network_name_str RiUPTC: Repositorio Institucional UPTC
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dc.title.en-US.fl_str_mv Inverse Kinematics for Synchronization of Three Degrees of Freedom Robots: Techniques and Applications
title Inverse Kinematics for Synchronization of Three Degrees of Freedom Robots: Techniques and Applications
spellingShingle Inverse Kinematics for Synchronization of Three Degrees of Freedom Robots: Techniques and Applications
MPC
Inverse kinematics
Robotic manipulators
Cinemática inversa
Manipulador robótico
title_short Inverse Kinematics for Synchronization of Three Degrees of Freedom Robots: Techniques and Applications
title_full Inverse Kinematics for Synchronization of Three Degrees of Freedom Robots: Techniques and Applications
title_fullStr Inverse Kinematics for Synchronization of Three Degrees of Freedom Robots: Techniques and Applications
title_full_unstemmed Inverse Kinematics for Synchronization of Three Degrees of Freedom Robots: Techniques and Applications
title_sort Inverse Kinematics for Synchronization of Three Degrees of Freedom Robots: Techniques and Applications
dc.creator.fl_str_mv Salazar, Griselle
Loyola, Oscar
Villaroel, Eduardo
Sandoval-Yañez, Claudia
dc.contributor.author.eng.fl_str_mv Salazar, Griselle
Loyola, Oscar
Villaroel, Eduardo
Sandoval-Yañez, Claudia
dc.subject.none.fl_str_mv MPC
Inverse kinematics
Robotic manipulators
Cinemática inversa
Manipulador robótico
topic MPC
Inverse kinematics
Robotic manipulators
Cinemática inversa
Manipulador robótico
publishDate 2024
dc.date.accessioned.none.fl_str_mv 2024-08-29 21:27:51
2026-04-16T17:47:36Z
dc.date.available.none.fl_str_mv 2024-08-29 21:27:51
dc.date.issued.none.fl_str_mv 2024-08-29
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dc.identifier.doi.none.fl_str_mv 10.19053/uptc.01211129.v33.n69.2024.18055
dc.identifier.eissn.none.fl_str_mv 2357-5328
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https://doi.org/10.19053/uptc.01211129.v33.n69.2024.18055
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dc.relation.references.none.fl_str_mv C. S. V. Gutiérrez, L. U. S. Juan, I. Z. Ugarte, I. M. Goenaga, L. A. Kirschgens, V. M. Vilches, “Time Synchronization in modular collaborative robots,” Cornell University, 2018. https://doi.org/10.48550/arXiv.1809.07295
T. Borangiu, F. D. Anton, and S. Anton, “Robot Motion Synchronization in Cooperative Tasks,” Solid State Phenomena, vol. 166-167, pp. 63-68, 2010. https://doi.org/10.4028/www.scientific.net/SSP.166-167.63
E. Yime, J. Roldán Mckenley, J. L. Villa Ramirez, “Computed torque control of a 2-RR planar parallelrobot // Control por par calculado de un robot paralelo planar 2-RR,” Prospectiva, vol. 15, no. 2, pp. 85-95, 2017. https://doi.org/10.15665/rp.v15i2.1111
J. Guzmán Giménez, Á. Valera, V. Mata-Amela, M. Á. Díaz Rodríguez, “Obtención del modelo cinemático inverso de sistemas robotizados de cadena cinemática abierta empleando bases de Groebner: aplicación a un robot hexápodo,” in XL Jornadas de Automática, Universidade da Coruña, 2020, pp. 726-734. https://doi.org/10.17979/spudc.9788497497169.726
T. Ribeiro, A. Paiva, “Expressive Inverse Kinematics Solving in Real-time for Virtual and Robotic Interactive Characters,” Cornell University, 2019. https://doi.org/10.48550/arXiv.1909.13875
F. Benzi, C. Secchi, “An Optimization Approach for a Robust and Flexible Control in Collaborative Applications,” Cornell University, 2021. https://doi.org/10.48550/arXiv.2103.03082}
D. Cardona-Ortiz, A. Paz, G. Arechavaleta, “Exploiting sparsity in robot trajectory optimization with direct collocation and geometric algorithms,” in IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2020, pp. 469-475. https://doi.org/10.1109/ICRA40945.2020.9196668
A. Bahani, M. E. houssine Ech-Chhibat, H. Samri, H. A. Elattar, “The Inverse Kinematics Evaluation of 6-DOF Robots in Cooperative Tasks Using Virtual Modeling Design and Artificial Intelligence Tools,” International Journal of Mechanical Engineering and Robotics Research, pp. 121-130, 2023. https://doi.org/10.18178/ijmerr.12.2.121-130
J.-G. Habekost, E. Strahl, P. Allgeuer, M. Kerzel, S. Wermter, “CycleIK: Neuro-inspired Inverse Kinematics,” Cornell University, 2023. https://doi.org/10.48550/arXiv.2307.11554
F. Zhang, J. Qu, H. Liu, Y. Fu, “A Multi-Priority Control of Asymmetric Coordination for Redundant Dual-Arm Robot,” International Journal of Humanoid Robotics, vol. 16, no. 2, e1950008, 2019. https://doi.org/10.1142/S0219843619500087
J. Manuel, E. Zulueta, B. Fernndez, M. Gr, “Multi-Robot Systems Control Implementation,” in Robot Learning, Sciyo, 2010. https://doi.org/10.5772/10254
S. Garcia, C. Menghi, P. Pelliccione, T. Berger, R. Wohlrab, “An Architecture for Decentralized, Collaborative, and Autonomous Robots,” in IEEE International Conference on Software Architecture (ICSA), IEEE, 2018, pp. 75-79. https://doi.org/10.1109/ICSA.2018.00017
E. Sebastian, T. Duong, N. Atanasov, E. Montijano, C. Sagues, “Physics-Informed Multi-Agent Reinforcement Learning for Distributed Multi-Robot Problems,” Cornell University, 2023. https://doi.org/10.48550/arXiv.2401.00212
M. Afrin, J. Jin, A. Rahman, A. Rahman, J. Wan, E. Hossain, “Resource Allocation and Service Provisioning in Multi-Agent Cloud Robotics: A Comprehensive Survey,” IEEE Communications Surveys and Tutorials, vol. 23, no. 2, pp. 842-870, 2021. https://doi.org/10.1109/COMST.2021.3061435
J. S. Toquica, P. S. Oliveira, W. S. R. Souza, J. M. S. T. Motta, D. L. Borges, “An analytical and a Deep Learning model for solving the inverse kinematic problem of an industrial parallel robot,” Computers and Industrial Engineering, vol. 151, e106682, 2021. https://doi.org/10.1016/j.cie.2020.106682
G. I. Parisi, C. Kanan, “Rethinking Continual Learning for Autonomous Agents and Robots,” Cornell University, 2019. https://doi.org/10.48550/arXiv.1907.01929
R. Julian, B. Swanson, G. S. Sukhatme, S. Levine, C. Finn, K. Hausman, “Never Stop Learning: The Effectiveness of Fine-Tuning in Robotic Reinforcement Learning,” Cornell University, 2020. https://doi.org/10.48550/arXiv.2004.10190
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dc.relation.citationissue.eng.fl_str_mv 69
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dc.relation.citationvolume.eng.fl_str_mv 33
dc.relation.ispartofjournal.eng.fl_str_mv Revista Facultad de Ingeniería
dc.relation.bitstream.none.fl_str_mv https://revistas.uptc.edu.co/index.php/ingenieria/article/download/18055/14944
https://revistas.uptc.edu.co/index.php/ingenieria/article/download/18055/14768
dc.relation.citationedition.eng.fl_str_mv Núm. 69 , Año 2024 : July-September 2024: Open Science at the Service of Engineering
dc.rights.none.fl_str_mv Griselle Salazar, Oscar Loyola, Eduardo Villaroel, Claudia Sandoval-Yañez - 2024
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rights_invalid_str_mv Griselle Salazar, Oscar Loyola, Eduardo Villaroel, Claudia Sandoval-Yañez - 2024
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spelling Salazar, GriselleLoyola, OscarVillaroel, EduardoSandoval-Yañez, Claudia2024-08-29 21:27:512026-04-16T17:47:36Z2024-08-29 21:27:512024-08-290121-1129https://repositorio.uptc.edu.co/handle/001/2158510.19053/uptc.01211129.v33.n69.2024.180552357-5328https://doi.org/10.19053/uptc.01211129.v33.n69.2024.18055text/xmlapplication/pdfUniversidad Pedagógica y Tecnológica de ColombiaGriselle Salazar, Oscar Loyola, Eduardo Villaroel, Claudia Sandoval-Yañez - 2024https://creativecommons.org/licenses/by/4.0info:eu-repo/semantics/openAccessThis work is licensed under a Creative Commons Attribution 4.0 International License.http://purl.org/coar/access_right/c_abf2https://revistas.uptc.edu.co/index.php/ingenieria/article/view/18055MPCInverse kinematicsRobotic manipulatorsCinemática inversaManipulador robóticoInverse Kinematics for Synchronization of Three Degrees of Freedom Robots: Techniques and ApplicationsArtículo de revistahttp://purl.org/coar/resource_type/c_6501http://purl.org/coar/resource_type/c_2df8fbb1info:eu-repo/semantics/articleJournal articleinfo:eu-repo/semantics/publishedVersionTexthttp://purl.org/coar/version/c_970fb48d4fbd8a85C. S. V. Gutiérrez, L. U. S. Juan, I. Z. Ugarte, I. M. Goenaga, L. A. Kirschgens, V. M. Vilches, “Time Synchronization in modular collaborative robots,” Cornell University, 2018. https://doi.org/10.48550/arXiv.1809.07295T. Borangiu, F. D. Anton, and S. Anton, “Robot Motion Synchronization in Cooperative Tasks,” Solid State Phenomena, vol. 166-167, pp. 63-68, 2010. https://doi.org/10.4028/www.scientific.net/SSP.166-167.63E. Yime, J. Roldán Mckenley, J. L. Villa Ramirez, “Computed torque control of a 2-RR planar parallelrobot // Control por par calculado de un robot paralelo planar 2-RR,” Prospectiva, vol. 15, no. 2, pp. 85-95, 2017. https://doi.org/10.15665/rp.v15i2.1111J. Guzmán Giménez, Á. Valera, V. Mata-Amela, M. Á. Díaz Rodríguez, “Obtención del modelo cinemático inverso de sistemas robotizados de cadena cinemática abierta empleando bases de Groebner: aplicación a un robot hexápodo,” in XL Jornadas de Automática, Universidade da Coruña, 2020, pp. 726-734. https://doi.org/10.17979/spudc.9788497497169.726T. Ribeiro, A. Paiva, “Expressive Inverse Kinematics Solving in Real-time for Virtual and Robotic Interactive Characters,” Cornell University, 2019. https://doi.org/10.48550/arXiv.1909.13875F. Benzi, C. Secchi, “An Optimization Approach for a Robust and Flexible Control in Collaborative Applications,” Cornell University, 2021. https://doi.org/10.48550/arXiv.2103.03082}D. Cardona-Ortiz, A. Paz, G. Arechavaleta, “Exploiting sparsity in robot trajectory optimization with direct collocation and geometric algorithms,” in IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2020, pp. 469-475. https://doi.org/10.1109/ICRA40945.2020.9196668A. Bahani, M. E. houssine Ech-Chhibat, H. Samri, H. A. Elattar, “The Inverse Kinematics Evaluation of 6-DOF Robots in Cooperative Tasks Using Virtual Modeling Design and Artificial Intelligence Tools,” International Journal of Mechanical Engineering and Robotics Research, pp. 121-130, 2023. https://doi.org/10.18178/ijmerr.12.2.121-130J.-G. Habekost, E. Strahl, P. Allgeuer, M. Kerzel, S. Wermter, “CycleIK: Neuro-inspired Inverse Kinematics,” Cornell University, 2023. https://doi.org/10.48550/arXiv.2307.11554F. Zhang, J. Qu, H. Liu, Y. Fu, “A Multi-Priority Control of Asymmetric Coordination for Redundant Dual-Arm Robot,” International Journal of Humanoid Robotics, vol. 16, no. 2, e1950008, 2019. https://doi.org/10.1142/S0219843619500087J. Manuel, E. Zulueta, B. Fernndez, M. Gr, “Multi-Robot Systems Control Implementation,” in Robot Learning, Sciyo, 2010. https://doi.org/10.5772/10254S. Garcia, C. Menghi, P. Pelliccione, T. Berger, R. Wohlrab, “An Architecture for Decentralized, Collaborative, and Autonomous Robots,” in IEEE International Conference on Software Architecture (ICSA), IEEE, 2018, pp. 75-79. https://doi.org/10.1109/ICSA.2018.00017E. Sebastian, T. Duong, N. Atanasov, E. Montijano, C. Sagues, “Physics-Informed Multi-Agent Reinforcement Learning for Distributed Multi-Robot Problems,” Cornell University, 2023. https://doi.org/10.48550/arXiv.2401.00212M. Afrin, J. Jin, A. Rahman, A. Rahman, J. Wan, E. Hossain, “Resource Allocation and Service Provisioning in Multi-Agent Cloud Robotics: A Comprehensive Survey,” IEEE Communications Surveys and Tutorials, vol. 23, no. 2, pp. 842-870, 2021. https://doi.org/10.1109/COMST.2021.3061435J. S. Toquica, P. S. Oliveira, W. S. R. Souza, J. M. S. T. Motta, D. L. Borges, “An analytical and a Deep Learning model for solving the inverse kinematic problem of an industrial parallel robot,” Computers and Industrial Engineering, vol. 151, e106682, 2021. https://doi.org/10.1016/j.cie.2020.106682G. I. Parisi, C. Kanan, “Rethinking Continual Learning for Autonomous Agents and Robots,” Cornell University, 2019. https://doi.org/10.48550/arXiv.1907.01929R. Julian, B. Swanson, G. S. Sukhatme, S. Levine, C. Finn, K. Hausman, “Never Stop Learning: The Effectiveness of Fine-Tuning in Robotic Reinforcement Learning,” Cornell University, 2020. https://doi.org/10.48550/arXiv.2004.10190e1805569e1805533Revista Facultad de Ingenieríahttps://revistas.uptc.edu.co/index.php/ingenieria/article/download/18055/14944https://revistas.uptc.edu.co/index.php/ingenieria/article/download/18055/14768Núm. 69 , Año 2024 : July-September 2024: Open Science at the Service of EngineeringPublicationOREORE.xmltext/xml2772https://repositorio.uptc.edu.co/bitstreams/3db1412d-bf48-4c8c-b578-9715c91371a4/download7583f9631d94bcd8eb761a2597e18dc8MD51falseAnonymousREAD001/21585oai:repositorio.uptc.edu.co:001/215852026-10-29 14:05:16.911https://creativecommons.org/licenses/by/4.0metadata.onlyhttps://repositorio.uptc.edu.coRepositorio Institucional UPTCbdigital@metabiblioteca.com

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