Maze solution device with Stewart’s platform and OpenCV
This article presents the analytic study of the kinematics model for a Stewart’s platform; its includes the derivation of closed-loop expressions for the inverse Jacobian matrix of the mechanism and its derived time domain. A physically prototype platform was implemented to generates control with an...
- Autores:
-
Gutierrez Valero, Joseph Mauricio
León-Rodríguez, Hernando
- Tipo de recurso:
- Article of journal
- Fecha de publicación:
- 2020
- Institución:
- Universidad El Bosque
- Repositorio:
- Repositorio U. El Bosque
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.unbosque.edu.co:20.500.12495/5088
- Acceso en línea:
- http://hdl.handle.net/20.500.12495/5088
https://doi.org/10.1007/978-3-030-31019-6_12
- Palabra clave:
- Stewart platform
Kinematics analysis
Parallel robot
Artificial vision system
- Rights
- openAccess
- License
- Acceso abierto
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| dc.title.spa.fl_str_mv |
Maze solution device with Stewart’s platform and OpenCV |
| dc.title.translated.spa.fl_str_mv |
Maze solution device with Stewart’s platform and OpenCV |
| title |
Maze solution device with Stewart’s platform and OpenCV |
| spellingShingle |
Maze solution device with Stewart’s platform and OpenCV Stewart platform Kinematics analysis Parallel robot Artificial vision system |
| title_short |
Maze solution device with Stewart’s platform and OpenCV |
| title_full |
Maze solution device with Stewart’s platform and OpenCV |
| title_fullStr |
Maze solution device with Stewart’s platform and OpenCV |
| title_full_unstemmed |
Maze solution device with Stewart’s platform and OpenCV |
| title_sort |
Maze solution device with Stewart’s platform and OpenCV |
| dc.creator.fl_str_mv |
Gutierrez Valero, Joseph Mauricio León-Rodríguez, Hernando |
| dc.contributor.author.none.fl_str_mv |
Gutierrez Valero, Joseph Mauricio León-Rodríguez, Hernando |
| dc.contributor.orcid.none.fl_str_mv |
León-Rodríguez, Hernando [0000-0001-5660-3028] |
| dc.subject.keywords.spa.fl_str_mv |
Stewart platform Kinematics analysis Parallel robot Artificial vision system |
| topic |
Stewart platform Kinematics analysis Parallel robot Artificial vision system |
| description |
This article presents the analytic study of the kinematics model for a Stewart’s platform; its includes the derivation of closed-loop expressions for the inverse Jacobian matrix of the mechanism and its derived time domain. A physically prototype platform was implemented to generates control with an artificial vision system executed in OpenCV library. The results includes the estimation of behaviour of the mobile platform and its mathematical relationship. The mathematical model and simulations of OpenSource were evaluated initially in Matlab, to finally perform an automatic maze labyrinth solution on top of the platform. |
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2020 |
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2020-11-18T21:11:30Z |
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2020-11-18T21:11:30Z |
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http://purl.org/coar/resource_type/c_2df8fbb1 |
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http://purl.org/coar/version/c_970fb48d4fbd8a85 |
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Artículo de revista |
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http://purl.org/coar/resource_type/c_6501 |
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info:eu-repo/semantics/article |
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http://purl.org/coar/resource_type/c_6501 |
| dc.identifier.uri.none.fl_str_mv |
http://hdl.handle.net/20.500.12495/5088 |
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https://doi.org/10.1007/978-3-030-31019-6_12 |
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instname:Universidad El Bosque |
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reponame:Repositorio Institucional Universidad El Bosque |
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repourl:https://repositorio.unbosque.edu.co |
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http://hdl.handle.net/20.500.12495/5088 https://doi.org/10.1007/978-3-030-31019-6_12 |
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instname:Universidad El Bosque reponame:Repositorio Institucional Universidad El Bosque repourl:https://repositorio.unbosque.edu.co |
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eng |
| language |
eng |
| dc.relation.ispartofseries.spa.fl_str_mv |
Communications in Computer and Information Science, Vol. 1052, 2019, p. 135-146 |
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https://link.springer.com/chapter/10.1007/978-3-030-31019-6_12 |
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Acceso abierto |
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http://purl.org/coar/access_right/c_abf2 info:eu-repo/semantics/openAccess Acceso abierto |
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2019-09-09 |
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Acceso abierto http://purl.org/coar/access_right/c_abf2 2019-09-09 |
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openAccess |
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application/pdf |
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Communications in Computer and Information Science |
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Universidad El Bosque |
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Gutierrez Valero, Joseph MauricioLeón-Rodríguez, HernandoLeón-Rodríguez, Hernando [0000-0001-5660-3028]2020-11-18T21:11:30Z2020-11-18T21:11:30Zhttp://hdl.handle.net/20.500.12495/5088https://doi.org/10.1007/978-3-030-31019-6_12instname:Universidad El Bosquereponame:Repositorio Institucional Universidad El Bosquerepourl:https://repositorio.unbosque.edu.coapplication/pdfengSpringer LinkCommunications in Computer and Information ScienceCommunications in Computer and Information Science, Vol. 1052, 2019, p. 135-146https://link.springer.com/chapter/10.1007/978-3-030-31019-6_12Maze solution device with Stewart’s platform and OpenCVMaze solution device with Stewart’s platform and OpenCVArtículo de revistahttp://purl.org/coar/resource_type/c_6501http://purl.org/coar/resource_type/c_2df8fbb1info:eu-repo/semantics/articlehttp://purl.org/coar/version/c_970fb48d4fbd8a85Stewart platformKinematics analysisParallel robotArtificial vision systemThis article presents the analytic study of the kinematics model for a Stewart’s platform; its includes the derivation of closed-loop expressions for the inverse Jacobian matrix of the mechanism and its derived time domain. A physically prototype platform was implemented to generates control with an artificial vision system executed in OpenCV library. The results includes the estimation of behaviour of the mobile platform and its mathematical relationship. The mathematical model and simulations of OpenSource were evaluated initially in Matlab, to finally perform an automatic maze labyrinth solution on top of the platform.Acceso abiertohttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessAcceso abierto2019-09-09LICENSElicense.txtlicense.txttext/plain; charset=utf-81748https://repositorio.unbosque.edu.co/bitstreams/bf0dce12-829b-4a69-8dcf-a637dd324fde/download8a4605be74aa9ea9d79846c1fba20a33MD52THUMBNAILGonzalez, L.V., Arango, A., López, J.P., Gnecco, J.P._2020.pdf (2).jpgGonzalez, L.V., Arango, A., López, J.P., Gnecco, J.P._2020.pdf (2).jpgimage/jpeg5775https://repositorio.unbosque.edu.co/bitstreams/54bc575c-5af2-432c-9ff5-b20657b30467/download7210a811635d1799e7c05fee5d259be7MD53Gutierrez_Valero_Joseph_Mauricio_2019.pdf.jpgGutierrez_Valero_Joseph_Mauricio_2019.pdf.jpgIM Thumbnailimage/jpeg8644https://repositorio.unbosque.edu.co/bitstreams/4c0e95f2-0400-4cac-bdf4-9d44193494d5/download96cb6130d2db142f680506739b238b60MD55ORIGINALGutierrez_Valero_Joseph_Mauricio_2019.pdfGutierrez_Valero_Joseph_Mauricio_2019.pdfapplication/pdf1343120https://repositorio.unbosque.edu.co/bitstreams/fe08871e-0210-4357-a36c-97280e3d6f9d/download69c4847120a8741264c79a8c9dce0cf2MD54TEXTGutierrez_Valero_Joseph_Mauricio_2019.pdf.txtGutierrez_Valero_Joseph_Mauricio_2019.pdf.txtExtracted texttext/plain23445https://repositorio.unbosque.edu.co/bitstreams/f33fb05e-63e1-400a-8d47-a31750ca4239/downloadb7f83574ed431ffcd897bca9b10b4159MD5620.500.12495/5088oai:repositorio.unbosque.edu.co:20.500.12495/50882024-02-07 05:25:09.073restrictedhttps://repositorio.unbosque.edu.coRepositorio Institucional Universidad El Bosquebibliotecas@biteca.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 |