-
Kassio M. Kienitz
Programa de pós-graduação em Engenharia mecânica, Escola de Engenharia, UFMG - Universidade Federal de Minas Gerais, Minas Gerais
-
Eduardo José Lima II
Programa de pós-graduação em Engenharia mecânica, Escola de Engenharia, UFMG - Universidade Federal de Minas Gerais, Minas Gerais
Keywords:
Inverse Kinematics, Parallel Robotic, Industrial Robotic, Motion Command, Hybrid Robot
Abstract
This work aims to present a hybrid solution for kinematic models. For this purpose, the closed-form solution and the parametric Denavit-Hartenberg solution are combined. The robot geometry chosen is a four bars pantograph with three DOF. The mathematical model was developed and simulated using the software GNU Octave and tested on an embedded system. The motion command used is based on a real-time online kinematic translator that allows the use of a general Cartesian CNC to command a non-Cartesian robot. The kinematic model was validated by comparing a desired commanded trajectory to the translated, executed trajectory. This proved that the mathematical solution is simple enough to be implemented in a low-cost embedded system.
