Kinematic model analysis and ros control of cable driven continuous robot manipulator

This paper describes the developed of cable continues redundant manipulator and its kinematic model analysis. The goal is to determine the accuracy of the experimental prototype with the constant curvature kinematic model. The experimental validation of the constant curvature kinematic model is eval...

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Autores:
León-Rodríguez, Hernando
Moncada Linares, Yefry
Mosqueda, Simon
Murrugarra Quiroz, Cecilia
Canu, Michael
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:20.500.12495/3900
Acceso en línea:
http://hdl.handle.net/20.500.12495/3900
https://doi.org/10.1007/978-3-030-53021-1_39
https://repositorio.unbosque.edu.co
Palabra clave:
Continuous redundant robot
End effector
Mathematical model
Cable robotic system
Rights
openAccess
License
Acceso abierto
id UNBOSQUE2_4f558d4267fe4e1c7f845b4afb0868cf
oai_identifier_str oai:repositorio.unbosque.edu.co:20.500.12495/3900
network_acronym_str UNBOSQUE2
network_name_str Repositorio U. El Bosque
repository_id_str
dc.title.spa.fl_str_mv Kinematic model analysis and ros control of cable driven continuous robot manipulator
dc.title.translated.spa.fl_str_mv Kinematic model analysis and ros control of cable driven continuous robot manipulator
title Kinematic model analysis and ros control of cable driven continuous robot manipulator
spellingShingle Kinematic model analysis and ros control of cable driven continuous robot manipulator
Continuous redundant robot
End effector
Mathematical model
Cable robotic system
title_short Kinematic model analysis and ros control of cable driven continuous robot manipulator
title_full Kinematic model analysis and ros control of cable driven continuous robot manipulator
title_fullStr Kinematic model analysis and ros control of cable driven continuous robot manipulator
title_full_unstemmed Kinematic model analysis and ros control of cable driven continuous robot manipulator
title_sort Kinematic model analysis and ros control of cable driven continuous robot manipulator
dc.creator.fl_str_mv León-Rodríguez, Hernando
Moncada Linares, Yefry
Mosqueda, Simon
Murrugarra Quiroz, Cecilia
Canu, Michael
dc.contributor.author.none.fl_str_mv León-Rodríguez, Hernando
Moncada Linares, Yefry
Mosqueda, Simon
Murrugarra Quiroz, Cecilia
Canu, Michael
dc.contributor.orcid.none.fl_str_mv Murrugarra Quiroz, Cecilia [0000-0001-9439-5418]
León-Rodríguez, Hernando [0000-0001-5660-3028]
dc.subject.keywords.spa.fl_str_mv Continuous redundant robot
End effector
Mathematical model
Cable robotic system
topic Continuous redundant robot
End effector
Mathematical model
Cable robotic system
description This paper describes the developed of cable continues redundant manipulator and its kinematic model analysis. The goal is to determine the accuracy of the experimental prototype with the constant curvature kinematic model. The experimental validation of the constant curvature kinematic model is evaluated to establish a relation between the mathematical model and continuum robot, and its feasibility of applying for any type of continuous redundant structure by computing the end effector trajectory based on the displacement of passive cables located along the structure. The continuous redundant prototype robot is composed by 2 segments with 7 modules sections powered by 6 driven cables where each segment is controlled with 3 lineal motors. The length of the segment is desired but it is also allows to add modular sections and connect them like serial chain. The radius of concave and/or convex curvature allows the robot manipulator to follow different trajectories and displacements in their workspace. The paper also describes the relevant components and the position feedback control implemented via ROS.
publishDate 2020
dc.date.accessioned.none.fl_str_mv 2020-08-31T21:49:44Z
dc.date.available.none.fl_str_mv 2020-08-31T21:49:44Z
dc.date.issued.none.fl_str_mv 2021
dc.type.coar.fl_str_mv http://purl.org/coar/resource_type/c_2df8fbb1
dc.type.coarversion.fl_str_mv http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.local.none.fl_str_mv Artículo de revista
dc.type.coar.none.fl_str_mv http://purl.org/coar/resource_type/c_6501
dc.type.driver.none.fl_str_mv info:eu-repo/semantics/article
format http://purl.org/coar/resource_type/c_6501
dc.identifier.issn.none.fl_str_mv 1876-1119
dc.identifier.uri.none.fl_str_mv http://hdl.handle.net/20.500.12495/3900
dc.identifier.doi.none.fl_str_mv https://doi.org/10.1007/978-3-030-53021-1_39
dc.identifier.instname.spa.fl_str_mv instname:Universidad El Bosque
dc.identifier.reponame.spa.fl_str_mv reponame:Repositorio Institucional Universidad El Bosque
dc.identifier.repourl.none.fl_str_mv https://repositorio.unbosque.edu.co
identifier_str_mv 1876-1119
instname:Universidad El Bosque
reponame:Repositorio Institucional Universidad El Bosque
url http://hdl.handle.net/20.500.12495/3900
https://doi.org/10.1007/978-3-030-53021-1_39
https://repositorio.unbosque.edu.co
dc.language.iso.none.fl_str_mv eng
language eng
dc.relation.ispartofseries.spa.fl_str_mv Lecture notes in electrical engineering, 1876-1119, Vol. 685, 2021, p. 384-393
dc.relation.uri.none.fl_str_mv https://link.springer.com/chapter/10.1007/978-3-030-53021-1_39
dc.rights.local.spa.fl_str_mv Acceso abierto
dc.rights.accessrights.none.fl_str_mv http://purl.org/coar/access_right/c_abf2
info:eu-repo/semantics/openAccess
Acceso abierto
dc.rights.creativecommons.none.fl_str_mv 2020-08-11
rights_invalid_str_mv Acceso abierto
http://purl.org/coar/access_right/c_abf2
2020-08-11
eu_rights_str_mv openAccess
dc.format.mimetype.none.fl_str_mv application/pdf
dc.publisher.spa.fl_str_mv Springer Nature
dc.publisher.journal.spa.fl_str_mv Lecture notes in electrical engineering
institution Universidad El Bosque
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spelling León-Rodríguez, HernandoMoncada Linares, YefryMosqueda, SimonMurrugarra Quiroz, CeciliaCanu, MichaelMurrugarra Quiroz, Cecilia [0000-0001-9439-5418]León-Rodríguez, Hernando [0000-0001-5660-3028]2020-08-31T21:49:44Z2020-08-31T21:49:44Z20211876-1119http://hdl.handle.net/20.500.12495/3900https://doi.org/10.1007/978-3-030-53021-1_39instname:Universidad El Bosquereponame:Repositorio Institucional Universidad El Bosquehttps://repositorio.unbosque.edu.coapplication/pdfengSpringer NatureLecture notes in electrical engineeringLecture notes in electrical engineering, 1876-1119, Vol. 685, 2021, p. 384-393https://link.springer.com/chapter/10.1007/978-3-030-53021-1_39Kinematic model analysis and ros control of cable driven continuous robot manipulatorKinematic model analysis and ros control of cable driven continuous robot manipulatorArtículo 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_970fb48d4fbd8a85Continuous redundant robotEnd effectorMathematical modelCable robotic systemThis paper describes the developed of cable continues redundant manipulator and its kinematic model analysis. The goal is to determine the accuracy of the experimental prototype with the constant curvature kinematic model. The experimental validation of the constant curvature kinematic model is evaluated to establish a relation between the mathematical model and continuum robot, and its feasibility of applying for any type of continuous redundant structure by computing the end effector trajectory based on the displacement of passive cables located along the structure. The continuous redundant prototype robot is composed by 2 segments with 7 modules sections powered by 6 driven cables where each segment is controlled with 3 lineal motors. The length of the segment is desired but it is also allows to add modular sections and connect them like serial chain. The radius of concave and/or convex curvature allows the robot manipulator to follow different trajectories and displacements in their workspace. The paper also describes the relevant components and the position feedback control implemented via ROS.Acceso abiertohttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessAcceso abierto2020-08-11LICENSElicense.txtlicense.txttext/plain; charset=utf-81748http://18.204.144.38/bitstreams/5bec4455-bd91-4c0c-b89a-46adbf75ad8f/download8a4605be74aa9ea9d79846c1fba20a33MD52THUMBNAILHernando Leon-Rodriguez,Yefry Moncada, Simon Mosqueda_2020.jpgHernando Leon-Rodriguez,Yefry Moncada, Simon Mosqueda_2020.jpgimage/jpeg5775http://18.204.144.38/bitstreams/1fd94738-16d3-47e1-8b65-4f22977f8cd3/download7210a811635d1799e7c05fee5d259be7MD5320.500.12495/3900oai:18.204.144.38:20.500.12495/39002022-05-05 17:58:37.215metadata.onlyhttp://18.204.144.38DSpace Pre-instalado Biteca S.A.Sbibliotecas@biteca.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