A new approach for direct kinematic solution of a soft robotic neck
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http://hdl.handle.net/2183/33665
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A new approach for direct kinematic solution of a soft robotic neckDate
2023Citation
Nagua, L., Monje, C.A., Balaguer, C. 2023. A new approach for the direct kinematic solution of a soft robotic neck. XLIV Jornadas de Automática, 697-701 https://doi.org/10.17979/spudc.9788497498609.697
Abstract
[Resumen] El mecanismo de cuello robótico presentado en este trabajo tiene como elemento principal un eslabón blando que emula un cuello humano con dos grados de libertad (DOF) (flexión, extensión y flexión lateral). El dispositivo se basa en un Mecanismo Paralelo Accionado por Cable (CDPM). Se desarrolla una cinemática directa a partir del sistema estático y la distribución geométrica del mecanismo, y se presentan ecuaciones lineales que permiten conocer fácilmente la longitud de los cables para hallar la posición del cuello, tanto en ángulos de inclinación como de orientación. Para el control del motor se utiliza un controlador PI de orden fraccionario (FOPI). [Abstract] The robotic neck mechanism presented in this paper has as its main element a soft link that emulates a human neck with two DOF (flexion, extension and lateral bending). The mechanism is based on a Cable-Driven Parallel Mechanism (CDPM). A direct kinematics is developed from the static system and the geometric distribution of the mechanism, and linear equations are presented that relate the length of the cables and the position of the neck, both in inclination and orientation angles. For the motor control, a fractional order PI controller (FOPI) is used
Keywords
Cuello robótico blando
Mecanismos paralelos accionados por cable (CDPM)
Cinemática directa
Control de orden fraccionario
Soft robotics neck
Cable-Driven Parallel Mechanisms (CDPM)
Direct kinematics
Fractional order control
Mecanismos paralelos accionados por cable (CDPM)
Cinemática directa
Control de orden fraccionario
Soft robotics neck
Cable-Driven Parallel Mechanisms (CDPM)
Direct kinematics
Fractional order control
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Attribution-NonCommercial-ShareAlike 4.0 lnternational (CC BY-NC-SA 4.0) https://creativecommons.org/licenses/by-ncsa/4.0/
ISBN
978-84-9749-860-9