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...
- 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
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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 |
bitstream.url.fl_str_mv |
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MD5 MD5 |
repository.name.fl_str_mv |
DSpace Pre-instalado Biteca S.A.S |
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bibliotecas@biteca.com |
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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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 |