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WORKSPACE SIMULATION AND ANALYSIS OF 5-DOF ARTICULATED ROBOT USING FORWARD KINEMATICS APPROACH | ||
| Iraqi journal of mechanical and material engineering | ||
| Article 1, Volume 14, Issue 4, 2014, Pages 398-407 | ||
| Authors | ||
| Alaa Hassan Shabeeb; Aqeel Sabree Bedan; Dr.Tahseen Fadhel Abaas | ||
| Abstract | ||
| The kinematics of manipulators is a central problem in the automatic control of robot manipulators. The kinematics problem is defined as the transformation from the joint space to the Cartesian space. The kinematic equations of motion are derived using Denavit - Hartenberg (DH) representation. In this paper, an analytical solution for the forward kinematics of Lab Volt R5150 robot arm is presented, to analyze the movement of the robot arm from one point in space to another point, and analyzes its work space The proposed model makes it possible to control the manipulator to achieve any reachable position and orientation in its environment. The forward kinematic model is predicated on Denavit Hartenberg (DH) parametric scheme of robot arm position placement. The MATLAB 8.0 is used to solve the mathematical model for a set of joint parameter and to simulate the workspace of the 5DOF articulated robot arm. The kinematics solution of the MATLAB program was found to be identical with the robot arm's actual reading. | ||
| Keywords | ||
| H Parameters; DOF; Transformation Matrices; Forward Kinematics; Work Space | ||
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