Algoritmo para controlar un brazo antropomórfico usando una transformación lineal

Abstract

In this paper proposes an algorithm to manipulate an anthropomorphic arm using an LCD touch screen and a linear transformation to obtain the trajectory robotic arm, inverse and direct kinematics. In order to people with physical disabilities who have an issue to move their bodies or simply do not have enough force to move it, can control the robotic arm in daily activities in a natural and easy way. The implementation of the algorithm has been developed in MATLAB, through this simulation the trajectory of the robotic arm is visualized and the representation with the three joints that are moved by stepper motors. The article ends with a critical discussion of the experimental results.