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Solving robotic kinematic problems: Singularities and inverse kinematics - Isiah Zaplana

Solving robotic kinematic problems: Singularities and inverse kinematics - Isiah Zaplana

 

Isiah Zaplana expone el trabajo que ha llevado a cabo en el IOC para realizar su tesis doctoral.

Aula-Seminari del IOC 
Miércoles 20 de diciembre a las 12.00 h
 


Solving robotic kinematic problems: Singularities and inverse kinematics

Resumen:
In the context of industrial robotics, kinematics is a branch of classical mechanics that describes the motion of the robot without considering the forces that cause such motion. Two important kinematic problems for serial robots are the inverse kinematics and the singularity identification. In this seminar, a mathematical formulation of both problems will be developed using matrix algebra and conformal geometric algebra. Then, solution methodologies for both problems will be presented using the different tools provided by the classical kinematic theory and the conformal geometric algebra. To illustrate the advantages of these methodologies, some examples will be given throughout the talk.