Robótica asistencial y su interacción con entorno en oficinas Robótica asistencial y su interacción con entorno en oficinas

Abstract

 This paper describes the fundamentals of the autonomous navigation and manipulation algorithms used to give the cun Assistance Robot autonomy and that it can be used as an office assistant. The navigation algorithms are based on root locus techniques that, by selecting poles and zeros in the robot’s motion zone, generate an obstacle-free path, allowing the robot to move from one place to another. For object manipulation, arm movement algorithms are proposed, when the robot is close enough to the target with which it must work, based on the Denavit-Hartenberg parameters; howe­ver, these are modified towards the evaluation of the increased working space of the arms and the use of smooth Cartesian trajectories, the latter generated from the configuration of the object to be reached. Thanks to the presentation and discussion of the results, it is possible to conclude that the implementation of the assistance robot is viable and valid.