Abstract

QUINONEZ, Yadira et al. Algorithm to control an anthropomorphic arm using a linear transformation. RISTI [online]. 2020, n.36, pp.64-81. ISSN 1646-9895.  https://doi.org/10.17013/risti.36.65-81.

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.

Keywords : Anthropomorphic Arm; Linear Transformation; LCD Touch Screen; People with Physical Disabilities; MATLAB.

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