Print ISSN: 1681-6900

Online ISSN: 2412-0758

Keywords : Forward Kinematics

Inverse Kinematics Analysis Using Close Form Solution Method for 5 DOF Robot Manipulate

Alaa Hassan Shabeeb; Laith A. Mohammed

Engineering and Technology Journal, 2015, Volume 33, Issue 9, Pages 2094-2106

This work proposes a close form solution algorithm to solve the inverse kinematics for a five degree of freedom (DOF) robot manipulator, close form solution is preferable to numerical solutions because analytical ones yield complete solutions and are computationally fast and reliable. The motion path of a robot arm is calculated using the geometric analysis. The proposed algorithm is verified using developed simulation modules. Computer simulation is conducted to demonstrate accuracy of the proposed algorithm to generate an appropriate joint angle for reaching desired Cartesian coordinate. The algorithm has been tested yield fair, which have also compared with the robot arm's actual reading.

Kinematics Analysis of 5250 Lab-Volt 5-DOF Robot Arm

Wathik Isaa Mahdi AL-Tameemi; Wael Mohammed Hasan Hadi

Engineering and Technology Journal, 2014, Volume 32, Issue 9, Pages 2196-2204

This paper presents for the first time a complete kinematic analysis of 5250 Lab-Volt 5-Dof robot which include both forward kinematics and inverse kinematics for this robot arm. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. The forward and inverse kinematics for any type of robots are very important in both trajectory planning and position control for the robot arm,the Denavit-Harbenterg (D-H) representation is used to model robot links and joints in this paper. The inverse kinematics have been solved using analytical solution and programmed using MATLAB to move the robot.

Singularity Analysis of Parallel Robot with Six Degrees-Of-Freedom of Six Legs

Hassan M. Alwan; Hayder Sabah Ahmed

Engineering and Technology Journal, 2014, Volume 32, Issue 4, Pages 960-972

This paper suggests a mathematical solution to parallel manipulator with six degrees of freedom and follows the movement on a specific track to evaluate the singularity position. Mathematical equation was derived based on the fundamental principles of the coordinate and orientation vectors of the moving platform center.
According to this equation, each leg length was calculated. It means that the independent coordinates (linkage length) was calculated with respect to the dependent coordinates (coordinate and orientation of the moving platform center) by using (MathCad 14) software.
By solving the forward kinematics, the coordinate and orientation of the moving platform center were evaluated when this center was moving in a specific track. The center of moving platform moved between two points.
When the robot moved using animated program turns the moving platform to imaginary at (position 4), when lose control of the robot and this is a big problem occurs in special cases when the movement of the robot is called singularity.

Forward Analysis of 5 DOF Robot Manipulator and Position Placement Problem for Industrial Applications

Alaa Hassan Shabeeb; Laith A. Mohammed

Engineering and Technology Journal, 2014, Volume 32, Issue 3, Pages 617-628

In this paper, a forward kinematics problem is concerned with the relationship between the individual joint of robot arm and the position and orientation of the tool or end-effector. The standard Denavit_Hartenberg(D-H) analytical scheme is applied to building mathematical modeling to predict, simulate and recovering the end-effector location (position and orientation) placement of 5DOF R5150 Robot manipulator for different joint variables, the basic challenge associated with the R5150 arm is the limited information available on its governing control model for position placement. Two ways by which control can be effected on R5150 arm, this robot can be programmed by using either a hand-held terminal (teach pendant) or a RoboCIM simulation software. The non-versatility of this control software is seen in the non-availability of a programmable environment by users. The user interface of RoboCIM allows for numeric keyboard inputs such that each input results in the orientation of a specific joint by a margin equivalent to the input. The relationship between the keyboard inputs and joint motion of the arm is not feasible to the users. The proposed D-H scheme as presented herein has successfully reproduced the end-effecter position of the Lab_volt R5150 Robot arm with marginal differences for different experimental trials. The simulation of robot arm forward kinematics is performed through MATLAB. The adopted modeling is validated in the physical behaviors in determine position of robot arm.