Modelamiento Cinemático Aproximado de un Prototipo de Robot Equino de 6 Grados de Libertad Para un Simulador de Tiro

Ramírez, Jaime Eduardo Andrade; Rubio, Yeison Andrey Gómez; Rivera, Diego Andrés Carranza; Ramírez, Jaime Eduardo Andrade; Rubio, Yeison Andrey Gómez; Rivera, Diego Andrés Carranza

dc.contributor		en-US
dc.creator	Ramírez, Jaime Eduardo Andrade
dc.creator	Rubio, Yeison Andrey Gómez
dc.creator	Rivera, Diego Andrés Carranza
dc.creator	Ramírez, Jaime Eduardo Andrade
dc.creator	Rubio, Yeison Andrey Gómez
dc.creator	Rivera, Diego Andrés Carranza
dc.date	2018-02-11
dc.date.accessioned	2018-02-23T17:16:28Z
dc.date.available	2018-02-23T17:16:28Z
dc.identifier	https://knepublishing.com/index.php/KnE-Engineering/article/view/1457
dc.identifier	10.18502/keg.v3i1.1457
dc.identifier.uri	http://ridda2.utp.ac.pa/handle/123456789/4331
dc.description	This article shows the design, analysis and manufacturing of one equine robot prototype with six degrees of freedom along with the development and implementation of control software. This software has the purpose to drive and to calculate the robot kinematics. All of this allows studding the elements necessaries to make a simulator of shots for riders that can be used in education areas as a tool of didactic support in the courses in the police national of Colombia, ensuring that the riders do not suffer physical and psychological injuries during their formation and avoiding hurting the horses in the training of that courses. In addition, the riders can interact and experiment of safety way every situation that they could find in real practice. The system is based on the kinematic study according to the Denavit-Hartenberg algorithm, approximate simulation using Kinematic-ARM® and the mathematic medeling in the Matlab® programming environment. All tecniques give aproximate results of location of the manipulator tool. Finally, it is possible to validate and analising the results comparing the practical and theoric values to determine the TCP error estimated in each movement.Keywords: Direct kinematics, equine robot, Denavit-Hartenberg (D-H), Degrees of Freedom (DOF), Tool Center Point (TCP).	en-US
dc.format	application/msword
dc.format	application/pdf
dc.format	application/xml
dc.language	eng
dc.publisher	KnE Publishing	en-US
dc.relation	https://knepublishing.com/index.php/KnE-Engineering/article/view/1457/3267
dc.relation	https://knepublishing.com/index.php/KnE-Engineering/article/view/1457/3517
dc.relation	https://knepublishing.com/index.php/KnE-Engineering/article/view/1457/3518
dc.rights	info:eu-repo/semantics/openAccess
dc.rights	https://creativecommons.org/licenses/by/4.0/
dc.source	2518-6841
dc.source	KnE Engineering; 6th Engineering, Science and Technology Conference - Panama 2017 (ESTEC 2017); 532-542	en-US
dc.title	Modelamiento Cinemático Aproximado de un Prototipo de Robot Equino de 6 Grados de Libertad Para un Simulador de Tiro	en-US
dc.type	info:eu-repo/semantics/article
dc.type	info:eu-repo/semantics/publishedVersion

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2017: 6th Engineering, Science and Technology Conference - Panama (ESTEC 2017) [115]
6th Engineering, Science and Technology Conference (ESTEC 2017) organized by the Universidad Tecnologica de Panama (UTP)

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