Kinematic and dynamic model validation of a four degree of freedom anthropomorphic robot manipulator

  • Eddy Gabriel Ibarra Instituto Politécnico Nacional
  • Manuel Alejandro Enriquez Instituto Politécnico Nacional
  • Yair Lozano Instituto Politécnico Nacional https://orcid.org/0000-0001-8157-3510
  • Rosalba Galván-Guerra Instituto Politécnico Nacional
  • Mario Cesar Maya Instituto Politécnico Nacional
DOI: https://doi.org/10.29057/icbi.v7iEspecial.4608
Keywords: Robot manipulator, Anthropomorphic robot, Kinematic model, Dynamic model, Euler - Lagrange

Abstract

In this paper, the kinematic and dynamic model of a 4 degree of freedom anthropomorphic robot manipulator are obtained by means of the Denavit - Hartenberg convention and the Euler - Lagrange formulation respectively. The kinematic model is used to construct the workspace of the robot manipulator.
A software CAD -CAE is used to estimate the robot manipulator’s physical parameters. The dynamic model is  proven to be valid via its comparison with the model obtain through the use of a computational tool which uses the Newton-Euler algorithm.

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Author Biographies

Eddy Gabriel Ibarra, Instituto Politécnico Nacional

Eddy Gabriel Ibarra Ontiveros was born in Hidalgo, Mexico. He studied the High School level in 2013 at High School N° 1 of the Autonomous University of Hidalgo State. He obtained his Bachelor´'s Degree  in control and automation in 2018 at the School of Electrical and Mechanical Engineering of the National Polytechnic Institute. His research interests include automatic control, robotics and non-linear systems. 

Manuel Alejandro Enriquez, Instituto Politécnico Nacional

Manuel Alejandro Enriquez Rocha was born in the city of Mexico, of the United Mexican States.  He obtained the technical degree in Digital Systems in 2013 at the Center of Scientific and Technological Studies number 3 of the National Polytechnic Institute. He obtained his bachelor’s degree in Control and Automation in 2018 at the School of Electrical and Mechanical Engineering of the National Polytechnic Institute. His research interest are automatic control, Sliding mode control, design of algorithms for simultaneous localization and mapping (SLAM).

Yair Lozano, Instituto Politécnico Nacional

 Yair Lozano Hernández was born in Hidalgo, Mexico. He obtained his bachelor’s degree in control and automation in 2013 at the School of Electrical and Mechanical Engineering of the National Polytechnic Institute. His postgraduate studies were obtained at the Professional School of Engineering and Advanced Technologies of the National Polytechnic Institute of Mexico (UPIITA-IPN) in 2016. His research interests are automatic control, design control systems for UAV, control of nonlinear systems, and underactuated systems.

Rosalba Galván-Guerra , Instituto Politécnico Nacional

Dr. Rosalba Galvan Guerra received her M.S and PhD. in Automatic Control from the Centro de Investigación y de Estudios Avanzados of the Instituto Politécnico Nacional (CINVESTAV-IPN), Mexico, in 2008 and 2011 respectively. She continued her research career as a postdoctoral fellow at the Engineering Faculty of the Universidad Nacional Autónoma de México (UNAM) during 2013-2014 and 2016 and at the Université de Techonologié de Belfort-Montbeliard France in 2015. Since August 2016 she is a full-time professor at the Instituto Politécnico Nacional in the Unidad Profesional Interdisciplinaria de Ingeniería campus Hidalgo (UPIIH-IPN). Her research interests include variable structure systems, hybrid systems, sliding modes, control and stability.

Mario Cesar Maya, Instituto Politécnico Nacional

Mario Cesar Maya Rodriguez recibió el grado en Ingeniería de Automatización y Control por el Instituto Politécnico Nacional (IPN), ciudad de México, México, en 2016, y el grado de Maestro en Ciencias en Control Automático, con la especialidad en redes neuronales, del CINVESTAV-IPN, ciudad de México, México, en 2018. Sus principales intereses son los sistemas difusos, las redes neuronales para la identificación y el control de sistemas no lineales, el meta-aprendizaje y el aprendizaje por transferencia.

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Published
2019-09-04
How to Cite
Ibarra, E. G., Enriquez, M. A., Lozano, Y., Galván-Guerra , R., & Maya, M. C. (2019). Kinematic and dynamic model validation of a four degree of freedom anthropomorphic robot manipulator. Pädi Boletín Científico De Ciencias Básicas E Ingenierías Del ICBI, 7(Especial), 116-123. https://doi.org/10.29057/icbi.v7iEspecial.4608
Issue
Vol 7 No Especial (2019): Pädi Boletín Científico de Ciencias Básicas e Ingenierías del ICBI
Section
Research papers