Simulación en el software Mathematica de un robot 2 GDL usando dos rotaciones de los números complejos

TL;DRAbstract

This article presents the results of modeling and simulation of a 2 DOF robot using two linear transformations characterized as rotations, both defined in the vector space of complex numbers. The first rotation is defined in terms of the usual multiplicative operation of complex numbers, while the second rotation, called variant, it is generated by another multiplicative operation. The rotations are used to determine the motion of a simple kinematic chain. The programming of the models is done in Mathematica. It is shown that the application of both rotations gives the same configurations of the robot; it can conclude that they are equivalent but not so the algebraic properties.

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