TY - GEN
T1 - Maze Solution Device with Stewart’s Platform and OpenCV
AU - Gutierrez Valero, Joseph Mauricio
AU - Leon-Rodriguez, Hernando
N1 - Publisher Copyright:
© 2019, Springer Nature Switzerland AG.
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 - http://www.scopus.com/inward/record.url?scp=85075696516&partnerID=8YFLogxK
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
T3 - Communications in Computer and Information Science
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 -