Kinematic model analysis and ros control of cable driven continuous robot manipulator

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dc.contributor.authorLeón-Rodríguez, Hernando
dc.contributor.authorMoncada Linares, Yefry
dc.contributor.authorMosqueda, Simon
dc.contributor.authorMurrugarra Quiroz, Cecilia
dc.contributor.authorCanu, Michael
dc.contributor.orcidMurrugarra Quiroz, Cecilia [0000-0001-9439-5418]
dc.contributor.orcidLeón-Rodríguez, Hernando [0000-0001-5660-3028]
dc.date.accessioned2020-08-31T21:49:44Z
dc.date.available2020-08-31T21:49:44Z
dc.date.issued2021
dc.description.abstractenglishThis 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.eng
dc.format.mimetypeapplication/pdf
dc.identifier.doihttps://doi.org/10.1007/978-3-030-53021-1_39
dc.identifier.instnameinstname:Universidad El Bosquespa
dc.identifier.issn1876-1119
dc.identifier.reponamereponame:Repositorio Institucional Universidad El Bosquespa
dc.identifier.repourlhttps://repositorio.unbosque.edu.co
dc.identifier.urihttps://hdl.handle.net/20.500.12495/3900
dc.language.isoeng
dc.publisherSpringer Naturespa
dc.publisher.journalLecture notes in electrical engineeringspa
dc.relation.ispartofseriesLecture notes in electrical engineering, 1876-1119, Vol. 685, 2021, p. 384-393spa
dc.relation.urihttps://link.springer.com/chapter/10.1007/978-3-030-53021-1_39
dc.rights.accessrightshttps://purl.org/coar/access_right/c_abf2
dc.rights.accessrightsinfo:eu-repo/semantics/openAccess
dc.rights.accessrightsAcceso abierto
dc.rights.creativecommons2020-08-11
dc.rights.localAcceso abiertospa
dc.subject.keywordsContinuous redundant robotspa
dc.subject.keywordsEnd effectorspa
dc.subject.keywordsMathematical modelspa
dc.subject.keywordsCable robotic systemspa
dc.titleKinematic model analysis and ros control of cable driven continuous robot manipulatorspa
dc.title.translatedKinematic model analysis and ros control of cable driven continuous robot manipulatorspa
dc.type.coarhttps://purl.org/coar/resource_type/c_6501
dc.type.driverinfo:eu-repo/semantics/article
dc.type.hasversioninfo:eu-repo/semantics/publishedVersion
dc.type.localArtículo de revista

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