Kinematics Analysis and Simulation of a Robotic Arm using MATLAB

被引：0

作者：

Barakat, Alla N. ^{[1
]}

Gouda, Khaled A. ^{[1
]}

Bozed, Kenz A. ^{[1
]}

机构：

[1] Benghazi Univ, Dept Comp Syst Design, Fac Informat Technol, Benghazi, Libya

来源：

2016 4TH INTERNATIONAL CONFERENCE ON CONTROL ENGINEERING & INFORMATION TECHNOLOGY (CEIT) | 2016年

关键词：

Modeling; Simulation; MATLAB; 6 DOF Robot arm; Forward Kinematics; Inverse Kinematics; Trajectory Planning; Jacobian;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In order to enhance the study of the kinematics of any robot arm, parameter design is directed according to certain necessities for the robot, and its forward and inverse kinematics are discussed. The DR convention Method is used to form the kinematical equation of the resultant structure. In addition, the Robotics equations are modeled in MATLAB to create a 3D visual simulation of the robot arm to show the result of the trajectory planning algorithms. The simulation has detected the movement of each joint of the robot arm, and tested the parameters, thus accomplishing the predetermined goal which is drawing a sine wave on a writing board.

引用

页数：5