Maze Solution Device with Stewart’s Platform and OpenCV

Joseph Mauricio Gutierrez Valero; Hernando Leon-Rodriguez

doi:10.1007/978-3-030-31019-6_12

Maze Solution Device with Stewart’s Platform and OpenCV

Joseph Mauricio Gutierrez Valero
, Hernando Leon-Rodriguez

Universidad El Bosque

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This article presents the analytic study of the kinematics model for a Stewart’s platform; its includes the derivation of closed-loop expressions for the inverse Jacobian matrix of the mechanism and its derived time domain. A physically prototype platform was implemented to generates control with an artificial vision system executed in OpenCV library. The results includes the estimation of behaviour of the mobile platform and its mathematical relationship. The mathematical model and simulations of OpenSource were evaluated initially in Matlab, to finally perform an automatic maze labyrinth solution on top of the platform.

Original language	English
Title of host publication	Applied Computer Sciences in Engineering - 6th Workshop on Engineering Applications, WEA 2019, Proceedings
Editors	Juan Carlos Figueroa-García, Mario Duarte-González, Sebastián Jaramillo-Isaza, Alvaro David Orjuela-Cañon, Yesid Díaz-Gutierrez
Publisher	Springer
Pages	135-146
Number of pages	12
ISBN (Print)	9783030310189
DOIs	https://doi.org/10.1007/978-3-030-31019-6_12
State	Published - 2019
Externally published	Yes
Event	6th Workshop on Engineering Applications, WEA 2019 - Santa Marta, Colombia Duration: 16 Oct 2019 → 18 Oct 2019

Publication series

Name	Communications in Computer and Information Science
Volume	1052
ISSN (Print)	1865-0929
ISSN (Electronic)	1865-0937

Conference

Conference	6th Workshop on Engineering Applications, WEA 2019
Country/Territory	Colombia
City	Santa Marta
Period	16/10/19 → 18/10/19

Keywords

Artificial vision system
Kinematics analysis
Parallel robot
Stewart platform

Access to Document

10.1007/978-3-030-31019-6_12

Cite this

Gutierrez Valero, J. M., & Leon-Rodriguez, H. (2019). Maze Solution Device with Stewart’s Platform and OpenCV. In J. C. Figueroa-García, M. Duarte-González, S. Jaramillo-Isaza, A. D. Orjuela-Cañon, & Y. Díaz-Gutierrez (Eds.), Applied Computer Sciences in Engineering - 6th Workshop on Engineering Applications, WEA 2019, Proceedings (pp. 135-146). (Communications in Computer and Information Science; Vol. 1052). Springer. https://doi.org/10.1007/978-3-030-31019-6_12

Gutierrez Valero, Joseph Mauricio ; Leon-Rodriguez, Hernando. / Maze Solution Device with Stewart’s Platform and OpenCV. Applied Computer Sciences in Engineering - 6th Workshop on Engineering Applications, WEA 2019, Proceedings. editor / Juan Carlos Figueroa-García ; Mario Duarte-González ; Sebastián Jaramillo-Isaza ; Alvaro David Orjuela-Cañon ; Yesid Díaz-Gutierrez. Springer, 2019. pp. 135-146 (Communications in Computer and Information Science).

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title = "Maze Solution Device with Stewart{\textquoteright}s Platform and OpenCV",

abstract = "This article presents the analytic study of the kinematics model for a Stewart{\textquoteright}s platform; its includes the derivation of closed-loop expressions for the inverse Jacobian matrix of the mechanism and its derived time domain. A physically prototype platform was implemented to generates control with an artificial vision system executed in OpenCV library. The results includes the estimation of behaviour of the mobile platform and its mathematical relationship. The mathematical model and simulations of OpenSource were evaluated initially in Matlab, to finally perform an automatic maze labyrinth solution on top of the platform.",

keywords = "Artificial vision system, Kinematics analysis, Parallel robot, Stewart platform",

author = "\{Gutierrez Valero\}, \{Joseph Mauricio\} and Hernando Leon-Rodriguez",

note = "Publisher Copyright: {\textcopyright} 2019, Springer Nature Switzerland AG.; 6th Workshop on Engineering Applications, WEA 2019 ; Conference date: 16-10-2019 Through 18-10-2019",

year = "2019",

doi = "10.1007/978-3-030-31019-6\_12",

language = "English",

isbn = "9783030310189",

series = "Communications in Computer and Information Science",

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pages = "135--146",

editor = "Figueroa-Garc{\'i}a, \{Juan Carlos\} and Mario Duarte-Gonz{\'a}lez and Sebasti{\'a}n Jaramillo-Isaza and Orjuela-Ca{\~n}on, \{Alvaro David\} and Yesid D{\'i}az-Gutierrez",

booktitle = "Applied Computer Sciences in Engineering - 6th Workshop on Engineering Applications, WEA 2019, Proceedings",

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Gutierrez Valero, JM & Leon-Rodriguez, H 2019, Maze Solution Device with Stewart’s Platform and OpenCV. in JC Figueroa-García, M Duarte-González, S Jaramillo-Isaza, AD Orjuela-Cañon & Y Díaz-Gutierrez (eds), Applied Computer Sciences in Engineering - 6th Workshop on Engineering Applications, WEA 2019, Proceedings. Communications in Computer and Information Science, vol. 1052, Springer, pp. 135-146, 6th Workshop on Engineering Applications, WEA 2019, Santa Marta, Colombia, 16/10/19. https://doi.org/10.1007/978-3-030-31019-6_12

Maze Solution Device with Stewart’s Platform and OpenCV. / Gutierrez Valero, Joseph Mauricio; Leon-Rodriguez, Hernando.
Applied Computer Sciences in Engineering - 6th Workshop on Engineering Applications, WEA 2019, Proceedings. ed. / Juan Carlos Figueroa-García; Mario Duarte-González; Sebastián Jaramillo-Isaza; Alvaro David Orjuela-Cañon; Yesid Díaz-Gutierrez. Springer, 2019. p. 135-146 (Communications in Computer and Information Science; Vol. 1052).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Maze Solution Device with Stewart’s Platform and OpenCV

AU - Gutierrez Valero, Joseph Mauricio

AU - Leon-Rodriguez, Hernando

PY - 2019

Y1 - 2019

N2 - This article presents the analytic study of the kinematics model for a Stewart’s platform; its includes the derivation of closed-loop expressions for the inverse Jacobian matrix of the mechanism and its derived time domain. A physically prototype platform was implemented to generates control with an artificial vision system executed in OpenCV library. The results includes the estimation of behaviour of the mobile platform and its mathematical relationship. The mathematical model and simulations of OpenSource were evaluated initially in Matlab, to finally perform an automatic maze labyrinth solution on top of the platform.

AB - This article presents the analytic study of the kinematics model for a Stewart’s platform; its includes the derivation of closed-loop expressions for the inverse Jacobian matrix of the mechanism and its derived time domain. A physically prototype platform was implemented to generates control with an artificial vision system executed in OpenCV library. The results includes the estimation of behaviour of the mobile platform and its mathematical relationship. The mathematical model and simulations of OpenSource were evaluated initially in Matlab, to finally perform an automatic maze labyrinth solution on top of the platform.

KW - Artificial vision system

KW - Kinematics analysis

KW - Parallel robot

KW - Stewart platform

UR - https://www.scopus.com/pages/publications/85075696516

U2 - 10.1007/978-3-030-31019-6_12

DO - 10.1007/978-3-030-31019-6_12

M3 - Conference contribution

AN - SCOPUS:85075696516

SN - 9783030310189

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SP - 135

EP - 146

BT - Applied Computer Sciences in Engineering - 6th Workshop on Engineering Applications, WEA 2019, Proceedings

A2 - Figueroa-García, Juan Carlos

A2 - Duarte-González, Mario

A2 - Jaramillo-Isaza, Sebastián

A2 - Orjuela-Cañon, Alvaro David

A2 - Díaz-Gutierrez, Yesid

PB - Springer

T2 - 6th Workshop on Engineering Applications, WEA 2019

Y2 - 16 October 2019 through 18 October 2019

ER -

Gutierrez Valero JM, Leon-Rodriguez H. Maze Solution Device with Stewart’s Platform and OpenCV. In Figueroa-García JC, Duarte-González M, Jaramillo-Isaza S, Orjuela-Cañon AD, Díaz-Gutierrez Y, editors, Applied Computer Sciences in Engineering - 6th Workshop on Engineering Applications, WEA 2019, Proceedings. Springer. 2019. p. 135-146. (Communications in Computer and Information Science). doi: 10.1007/978-3-030-31019-6_12

Maze Solution Device with Stewart’s Platform and OpenCV

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Keywords

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