ANÁLISIS DE PASIVIDAD, MODELO MATEMÁTICO Y CONSTRUCCIÓN DE UN BRAZO CILÍNDRICO

Abstract

This thesis deals the study of the cylindrical arm robotic, this for the interest due to the growing applications in different areas, this which continues as issue at the present like research and experimentation. In this work are resolve two fundamental problems of the robotics arms, like kinematics and dynamics; the kinematics is divided into: 1.- direct kinematics which is of interest in the study of the robotic arms for the position and orientation knowing the parameters of the links. 2.- inverse kinematics is to know from point in space the parameters that should have each link to get the desired position. In addition to the need to perform simulations without having arms, the mathematical model of cylindrical arms is obtained to solve this. Also it deals the concept of passivity which is important to know the possibility of use a control system or an observer.