ANALISIS CINEMATICO Y DINAMICO DE MANIPULADORES ROBOTICOS POR LA METODOLOGIA DE LOS NUMEROS DUALES

Abstract

This work presents the procedures for the realization of kinematic and dynamic analysis of robotic manipulators using dual numbers instead of ordinary numbers. The kinematic analysis is divided into two parts, the fisrt one is for the displacement analysis which will determine positions and orientations by determining the direct model of the manipulator using the Denavit-Hartenberg parameters, but with application to dual algebra. The second part of the kinematic analysis is for the study of the velocity, determining the linear and angular velocities in dual form and will be used the method of propagation velocity to determine the velocity of the system. The realization of dynamic analysis is intended to obtain the dual dynamic equilibrium equations using the Newton-Euler method but adapted to dual algebra. Finally, the procedures and results are applied to a cylindrical configuration manipulator.