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Implementaci N en Matlab Del Modelo Cinematico Con Los Par Metros de Denavit Hatemberg
Implementaci N en Matlab Del Modelo Cinematico Con Los Par Metros de Denavit Hatemberg
Abstract
Robotics is a science that focuses on the design, manufacture, functionality, study and applica-
tion of automated robots, relying on different disciplines such as electrical, electronic, mechanical,
biomedical and systems engineering. Matlab is a matrix-based programming language that allows
the simplest expression of computational mathematics. Denavit Hatemberg’s parameters consist
of a series of rules to place the reference systems of each link of the robot.
1 Introduction
At some point in our life we saw the Robot as a creation of science fiction, we have seen them in
movies, series and in drawings, programs and films that accompanied our childhood.
Thanks to the evolution of technology we see how it has been incorporated into our lives from
a simple washing machine to cameras with facial recognition, we currently have sophisticated robots
capable of performing more sensitive processes and with unimaginable precision of movement. The
purpose of these robots is to automate simple processes ranging from arms that bake bread to very
complex processes such as human surgeries where there is no room for error
2 TYPES OF ROBOTS
1 Mobile phones Terrestrial Aerial Aliens Submarines 2 Manipulators Open Closed planar 3 Humanoids
prosthesis Exoskeletons complete 4 Doctors Surgical Rehabilitation 5 Soft Flexible parts Flexible drive
mechanisms
1
Figure 1: Code in matlab.
2
Figure 3: Graph.
3
Figure 5: Introduce data.
Figure 6: Graph.
4
Figure 7: Introduce data.
Figure 8: Graph.
5
Figure 9: Introduce data.
6
Figure 11: Introduce data.