Forward Kinematics Modeling of 5 DOF Stationary Articulated Robots
This paper present a direct kinematics modeling of 5 DOF stationary articulated robot arm which is used for educational tasks, and presents an adopted modeling method to represent and simulate the simultaneous positional coordinates for each joint of the robot while it moving from one target to anot...
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| Format: | Article |
| Language: | English |
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Unviversity of Technology- Iraq
2013-03-01
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| Series: | Engineering and Technology Journal |
| Subjects: | |
| Online Access: | https://etj.uotechnology.edu.iq/article_81945_2aaa62043ec16867a64153a70927ccc7.pdf |
| _version_ | 1797325682798231552 |
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| author | Tahseen Fadhil Abbas |
| author_facet | Tahseen Fadhil Abbas |
| author_sort | Tahseen Fadhil Abbas |
| collection | DOAJ |
| description | This paper present a direct kinematics modeling of 5 DOF stationary articulated robot arm which is used for educational tasks, and presents an adopted modeling method to represent and simulate the simultaneous positional coordinates for each joint of the robot while it moving from one target to another, where a Lab Volt R5150 robot arm has been taken as a case study. the Denavite – Hartenberg (D-H) model of representation is used to model robot links and joints in this paper. It utilizes Matlab 2010a software as the tools for manipulation and testing. The adopted modeling solution was found to be identical with the physical behaviors. |
| first_indexed | 2024-03-08T06:12:54Z |
| format | Article |
| id | doaj.art-e31ac97a4f004529ad5870dc89f696ad |
| institution | Directory Open Access Journal |
| issn | 1681-6900 2412-0758 |
| language | English |
| last_indexed | 2024-03-08T06:12:54Z |
| publishDate | 2013-03-01 |
| publisher | Unviversity of Technology- Iraq |
| record_format | Article |
| series | Engineering and Technology Journal |
| spelling | doaj.art-e31ac97a4f004529ad5870dc89f696ad2024-02-04T17:34:35ZengUnviversity of Technology- IraqEngineering and Technology Journal1681-69002412-07582013-03-01313A50051210.30684/etj.31.3A.881945Forward Kinematics Modeling of 5 DOF Stationary Articulated RobotsTahseen Fadhil AbbasThis paper present a direct kinematics modeling of 5 DOF stationary articulated robot arm which is used for educational tasks, and presents an adopted modeling method to represent and simulate the simultaneous positional coordinates for each joint of the robot while it moving from one target to another, where a Lab Volt R5150 robot arm has been taken as a case study. the Denavite – Hartenberg (D-H) model of representation is used to model robot links and joints in this paper. It utilizes Matlab 2010a software as the tools for manipulation and testing. The adopted modeling solution was found to be identical with the physical behaviors.https://etj.uotechnology.edu.iq/article_81945_2aaa62043ec16867a64153a70927ccc7.pdflabvolt rforward kinematicsh parametersmodeling and simulation |
| spellingShingle | Tahseen Fadhil Abbas Forward Kinematics Modeling of 5 DOF Stationary Articulated Robots Engineering and Technology Journal labvolt r forward kinematics h parameters modeling and simulation |
| title | Forward Kinematics Modeling of 5 DOF Stationary Articulated Robots |
| title_full | Forward Kinematics Modeling of 5 DOF Stationary Articulated Robots |
| title_fullStr | Forward Kinematics Modeling of 5 DOF Stationary Articulated Robots |
| title_full_unstemmed | Forward Kinematics Modeling of 5 DOF Stationary Articulated Robots |
| title_short | Forward Kinematics Modeling of 5 DOF Stationary Articulated Robots |
| title_sort | forward kinematics modeling of 5 dof stationary articulated robots |
| topic | labvolt r forward kinematics h parameters modeling and simulation |
| url | https://etj.uotechnology.edu.iq/article_81945_2aaa62043ec16867a64153a70927ccc7.pdf |
| work_keys_str_mv | AT tahseenfadhilabbas forwardkinematicsmodelingof5dofstationaryarticulatedrobots |