Dynamics of a Unicycle-Type Wheeled Mobile Manipulator Robot
Mathematical modeling is widely used in robotics to display behaviors and design control algorithms; the dynamic model of a robot describes the movements considering the action of internal and external forces of the system. This paper presents the dynamics of a unicycle mobile manipulator robot usin...
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| Format: | article |
| Idioma: | eng |
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2020
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| Accés en línia: | https://link.springer.com/chapter/10.1007/978-3-030-32033-1_3 https://hdl.handle.net/20.500.14809/3412 |
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Afegir etiqueta | _version_ | 1858415127467917312 |
|---|---|
| author | Varela-Aldás, José |
| author2 | Chicaiza, Fernando Andaluz, Víctor |
| author2_role | author author |
| author_facet | Varela-Aldás, José Chicaiza, Fernando Andaluz, Víctor |
| author_role | author |
| collection | Repositorio Universidad Tecnológica Indoamérica |
| dc.creator.none.fl_str_mv | Varela-Aldás, José Chicaiza, Fernando Andaluz, Víctor |
| dc.date.none.fl_str_mv | 2020 2022-06-29T22:03:03Z 2022-06-29T22:03:03Z |
| dc.identifier.none.fl_str_mv | https://link.springer.com/chapter/10.1007/978-3-030-32033-1_3 https://hdl.handle.net/20.500.14809/3412 |
| dc.language.none.fl_str_mv | eng |
| dc.publisher.none.fl_str_mv | Advances in Intelligent Systems and Computing. Volume 1067, Pages 24 - 33. 1st International Conference on Advances in Emerging Trends and Technologies, ICAETT 2019. quito. 29 May 2019 through 31 May 2019 |
| dc.rights.none.fl_str_mv | https://creativecommons.org/licenses/by/4.0/ info:eu-repo/semantics/openAccess |
| dc.source.none.fl_str_mv | reponame:Repositorio Universidad Tecnológica Indoamérica instname:Universidad Tecnológica Indoamérica instacron:UTI |
| dc.title.none.fl_str_mv | Dynamics of a Unicycle-Type Wheeled Mobile Manipulator Robot |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/publishedVersion info:eu-repo/semantics/article |
| description | Mathematical modeling is widely used in robotics to display behaviors and design control algorithms; the dynamic model of a robot describes the movements considering the action of internal and external forces of the system. This paper presents the dynamics of a unicycle mobile manipulator robot using the Euler-Lagrange proposal and conditioning the model to obtain the output velocities in the robot from the desired velocities. Additionally, the dynamic model is complemented by the identification of parameters using experimental data obtained from the AKASHA robot. The results present the signals applied in the identification, the values of the dynamic constants are found and the validation data which indicate a correct performance of the proposal are graphically shown. © 2020, Springer Nature Switzerland AG. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | UTI_628ae4d18b3fc7cbb17a9792b0effea0 |
| instacron_str | UTI |
| institution | UTI |
| instname_str | Universidad Tecnológica Indoamérica |
| language | eng |
| network_acronym_str | UTI |
| network_name_str | Repositorio Universidad Tecnológica Indoamérica |
| oai_identifier_str | oai:repositorio.uti.edu.ec:20.500.14809/3412 |
| publishDate | 2020 |
| publisher.none.fl_str_mv | Advances in Intelligent Systems and Computing. Volume 1067, Pages 24 - 33. 1st International Conference on Advances in Emerging Trends and Technologies, ICAETT 2019. quito. 29 May 2019 through 31 May 2019 |
| reponame_str | Repositorio Universidad Tecnológica Indoamérica |
| repository.mail.fl_str_mv | . |
| repository.name.fl_str_mv | Repositorio Universidad Tecnológica Indoamérica - Universidad Tecnológica Indoamérica |
| repository_id_str | 0 |
| rights_invalid_str_mv | https://creativecommons.org/licenses/by/4.0/ |
| spelling | Dynamics of a Unicycle-Type Wheeled Mobile Manipulator RobotVarela-Aldás, JoséChicaiza, FernandoAndaluz, VíctorMathematical modeling is widely used in robotics to display behaviors and design control algorithms; the dynamic model of a robot describes the movements considering the action of internal and external forces of the system. This paper presents the dynamics of a unicycle mobile manipulator robot using the Euler-Lagrange proposal and conditioning the model to obtain the output velocities in the robot from the desired velocities. Additionally, the dynamic model is complemented by the identification of parameters using experimental data obtained from the AKASHA robot. The results present the signals applied in the identification, the values of the dynamic constants are found and the validation data which indicate a correct performance of the proposal are graphically shown. © 2020, Springer Nature Switzerland AG.Advances in Intelligent Systems and Computing. Volume 1067, Pages 24 - 33. 1st International Conference on Advances in Emerging Trends and Technologies, ICAETT 2019. quito. 29 May 2019 through 31 May 20192022-06-29T22:03:03Z2022-06-29T22:03:03Z2020info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articlehttps://link.springer.com/chapter/10.1007/978-3-030-32033-1_3https://hdl.handle.net/20.500.14809/3412enghttps://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccessreponame:Repositorio Universidad Tecnológica Indoaméricainstname:Universidad Tecnológica Indoaméricainstacron:UTI2022-07-09T17:28:06Zoai:repositorio.uti.edu.ec:20.500.14809/3412Institucionalhttps://repositorio.uti.edu.ec/Institución privadahttps://indoamerica.edu.ec/https://repositorio.uti.edu.ec/oai.Ecuador...opendoar:02022-07-09T17:28:06Repositorio Universidad Tecnológica Indoamérica - Universidad Tecnológica Indoaméricafalse |
| spellingShingle | Dynamics of a Unicycle-Type Wheeled Mobile Manipulator Robot Varela-Aldás, José |
| status_str | publishedVersion |
| title | Dynamics of a Unicycle-Type Wheeled Mobile Manipulator Robot |
| title_full | Dynamics of a Unicycle-Type Wheeled Mobile Manipulator Robot |
| title_fullStr | Dynamics of a Unicycle-Type Wheeled Mobile Manipulator Robot |
| title_full_unstemmed | Dynamics of a Unicycle-Type Wheeled Mobile Manipulator Robot |
| title_short | Dynamics of a Unicycle-Type Wheeled Mobile Manipulator Robot |
| title_sort | Dynamics of a Unicycle-Type Wheeled Mobile Manipulator Robot |
| url | https://link.springer.com/chapter/10.1007/978-3-030-32033-1_3 https://hdl.handle.net/20.500.14809/3412 |