Inverse kinematics model for a 18 degrees of freedom robot

• Autorzy: Ortega-Palacios Miguel Angel , Palomino-Merino Amparo Dora , Reyes-Cortes Fernando

Identyfikatory

DOI

10.14313/JAMRIS/1‐2023/3

• Języki publikacji: EN

Abstrakty

EN

The study of humanoid robots is still a challenge for the scientific community, although there are several related works in this area, several limitations have been found in the literature that drive the need to develop an inverse kinematic modeling of biped robots. This paper presents a research proposal for the Bioloid Premium robot. The objective is to propose a complete solution to the inverse kinematics model for a 18 DOF (Degrees Of Freedom) biped robot. This model will serve as a starting point to obtain the dynamic model of the robot in a subsequent work. The proposed methodology can be extended to other biped robots.

Słowa kluczowe

EN

bioloid premium robot; forward kinematics; inverse kinematic; kinematic chain

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2023
• Tom: Vol. 17, No. 1
• Strony: 21--29
• Opis fizyczny: Bibliogr. 29 poz., rys.

Twórcy

autor

Ortega-Palacios Miguel Angel

• Language and Knowledge Engineering (LKE), Benemérita Univer‐ sidad Autónoma de Puebla, Puebla, México

autor

Palomino-Merino Amparo Dora

• Facultad de Ciencias de la Electrónica, Benemérita Universidad Autónoma de Puebla, Puebla, México

autor

Reyes-Cortes Fernando

• Facultad de Ciencias de la Electrónica, Benemérita Universidad Autónoma de Puebla, Puebla, México

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2024).