Advances in Robotics & Automation

González-Palacios MA

Publications

• Research Article
  The Generalized Architecture of the Spherical Serial Manipulator
  Author(s): González-Palacios MA, Ortega-Alvarez CJ, Sandoval-Castillo JG, Cuevas-Ledesma SM and Mendoza-Patiño FJGonzález-Palacios MA, Ortega-Alvarez CJ, Sandoval-Castillo JG, Cuevas-Ledesma SM and Mendoza-Patiño FJ
  
  It is well known that the inverse kinematics problem for the spherical serial manipulator has been solved in the past by diverse methods; but this problem for a generalized architecture based on the Denavit-Hartenberg parameters has not been treated. Therefore, this paper considers such treatment in a geometric analysis to derive a closed-form solution of the inverse kinematics problem, whose algorithm is validated by simulating pick and place operations. With the code implementation of a novel linear tracking algorithm introduced here, this application is accomplished in real time with the aid of a development software devoted to simulate robotic applications in real time, allowing the visualization of the performance of all possible architectures including the eight types defined in this paper; It is also shown that the Stanford arm is comprised within this classification. In order .. Read More»
  DOI: 10.4172/2168-9695.1000148

  Abstract PDF