Metodología para encontrar Matrices de Transformación Homogénea para la Cinemática de Mecanismos con Matlab y VRML

Abstract

This work solves the problem of finding the matrix of homogenous transformation, [1]-[7], in the study of mechanisms, in special Robotics, of 3D designs previously developed or exported to WRL files, [8]-[13] where are position and orientation measures of the actuating pivot are missing. The approach taken is graphical and is implemented relying in special functions of Matlab, [14]-[18], for making interaction with VRML worlds. Concepts like parameters Denavit-Hartenberg which are four, are important due they are the minimal quantity of parameters necessary for relating two coordinate frames, are hard to find whenever there are no data of dimensions or size relating position and orientation between different objects or when the Transformations, native nodes of the VRML, have nested, hence complex, structures.