Cálculo simbólico aplicado a robots industriales mediante SAGE

Abstract

This paper presents the kinematics development of an industrial robot through SAGE(Software for Algebra and Geometry Experimentation) programming. SAGE is a freealternative to owner computation software such as Maple, Mathematica or MATLAB.SAGE can operate in server mode from any browser, allowing you to apply newinformation technologies to multiple engineering problems.The kinematics of industrial robots is one of the applications of SAGE. The kinematicsstudy is dealt considering a set of rigid bars linked together through articulations,making up all of them an open kinematic chain. From here, the robot motion analysis issolved using algorithms based on vector mechanics. The approach is performedfollowing the Denavit-Hartenberg representation that standardizes the coordinatesystems which describes spatial relations. After studying the kinematic problem, thesymbolic computation programming in SAGE is performed and generic results of thekinematic variables of position, velocity and acceleration are obtained. Theprogramming allows you to particularize the problem to any specific situation and thedata can be presented graphically to give a simple computation environment for anyparticular structure of an industrial robot.