alexa The Generalized Architecture of the Spherical Serial Manipulator
ISSN: 2168-9695

Advances in Robotics & Automation
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Research Article

The Generalized Architecture of the Spherical Serial Manipulator

González-Palacios MA*, Ortega-Alvarez CJ, Sandoval-Castillo JG, Cuevas-Ledesma SM and Mendoza-Patiño FJ

Division of Engineering Campus Irapuato-Salamanca, University of Guanajuato, Salamanca Carr - V of Santiago, Community Palo Blanco, Salamanca, Mexico

*Corresponding Author:
González-Palacios MA
Division of Engineering Campus Irapuato-Salamanca
University of Guanajuato, Salamanca Carr - V of Santiago
Community Palo Blanco, Salamanca, Mexico
Tel: 2465-52 464 647 9940
E-mail: [email protected]

Received April 08, 2016; Accepted April 27, 2016; Published April 30, 2016

Citation: González-Palacios MA, Ortega-Alvarez CJ, Sandoval-Castillo JG, Cuevas-Ledesma SM, Mendoza-Patiño FJ (2016) The Generalized Architecture of the Spherical Serial Manipulator. Adv Robot Autom 5:148. doi:10.4172/2168-9695.1000148

Copyright: © 2016 González-Palacios MA, et al. This is an open-access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.



It is well known that the inverse kinematics problem for the spherical serial manipulator has been solved in the past by diverse methods; but this problem for a generalized architecture based on the Denavit-Hartenberg parameters has not been treated. Therefore, this paper considers such treatment in a geometric analysis to derive a closed-form solution of the inverse kinematics problem, whose algorithm is validated by simulating pick and place operations. With the code implementation of a novel linear tracking algorithm introduced here, this application is accomplished in real time with the aid of a development software devoted to simulate robotic applications in real time, allowing the visualization of the performance of all possible architectures including the eight types defined in this paper; It is also shown that the Stanford arm is comprised within this classification. In order to demonstrate the great potential offered by combining the algorithms released here in simulations for industrial applications requiring a quick response, a case study is presented by taking as examples, the Stanford manipulator and a spherical manipulator with generalized architecture.


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