Simulación en el software Mathematica de un robot 2 GDL usando dos rotaciones de los números complejos
Luis Reyes Ávila
Luis Tadeo Portela Peñúñuri
Rosalina Longorio Vélez
Arturo Urbalejo Contreras
Laura Olivia Amavizca Valdez
Ignacio Vázquez Cuevas
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Simulación en el software Mathematica de un robot 2 GDL usando dos rotaciones de los números complejos | ||
| Published in: | Engineering for a Smarter Planet: Innovation, ITC, and Computational Tools for Sustainable Development: Proceedings of the 9th Latin American and Caribbean Conference for Engineering and Technology | |
| Date of Conference: | August 3-5, 2011 | |
| Location of Conference: | Medellin, Colombia | |
| Authors: | Eusebio Jiménez López Luis Reyes Ávila Luis Tadeo Portela Peñúñuri Rosalina Longorio Vélez Arturo Urbalejo Contreras Laura Olivia Amavizca Valdez Ignacio Vázquez Cuevas | |
| Refereed Paper: | #118 | |
Abstract | ||
| This article presents the results of modeling and simulation of a 2 DOF robot using two linear transformations characterized as rotations, both defined in the vector space of complex numbers. The first rotation is defined in terms of the usual multiplicative operation of complex numbers, while the second rotation, called variant, it is generated by another multiplicative operation. The rotations are used to determine the motion of a simple kinematic chain. The programming of the models is done in Mathematica. It is shown that the application of both rotations gives the same configurations of the robot; it can conclude that they are equivalent but not so the algebraic properties. | ||