A Virtual Reality Environment for 5-DOF Robot Manipulator based on XNA Framework

Abstract

ABSTRACT This work presents a complete solution for the Forward and Inverse Kinematics for a 5DOF robot manipulator and use XNA game studio as a simulator. The work include mathematical modeling of the robot Kinematics which it used in a 3D virtual environment. This text show that it can be use XNA GS as an excellent tool to simulate robots behavior. Keywords inverse kinematics, Lab volt 5150, XNA, Simulation, Virtual reality. 1. INTRODUCTION Many researches dealt with the analysis for inverse Kinematics of a 5-DOF manipulator considered that it should deal with the problem as an analysis for 6-DOF manipulator losing one degree of freedom [1], [2] and deficiency of degrees of freedom makes the control of manipulators with less than 6-DOF very difficult when following a given trajectory[3]. Some algebraic solutions for inverse Kinematics of a 5-DOF manipulator assume that summation of joint angles 2,3 and 4 (θ_234) is a constant value, so it didn't solve all the joint angles. [4] introduced analysis for Forward Kinematics of 5-Dof and didn't deal with inverse Kinematics of the robot. C. S. G Lee, M. Ziegler [5] solve the problem of choosing a solution among multi solutions generated as a result of left and above arm, right and above arm, left and below arm, right and below arm and wrist flip configurations by assuming an indicators, this way need that joint angles already known. In this paper, a 5-DOF manipulator which is Lab-Volt 5150 series was modeled and analyzed without assuming any auxiliary frame. All the driven forward and inverse Kinematics shows a great deal of accuracy theoretically and experimentally, also the problem of multi solutions was solved by suggesting an algorithm that choose the best configuration for a point in space represented by a position vector and orientation matrix. A virtual reality environment developed to simulate the movements of the robot arm using C#.Net language XNA framework. Virtual reality is a system which allows one or more users to move and react in a computer generated environment. The basic VR systems allow the user to visual information using computer screens [6]. Section 2 shows the modeling of the robot manipulator and D-H parameters associated with the model. Section 3.1 introduces the analysis of the forward Kinematics and use Lab-Volt 5150 as a case study. Section 3.2 introduced the problem of the singularity and it was proved that there are no singularity. Section 4 offer the inverse Kinematics analysis and set all the governing equations for all the joints angles. Section 5 give the theoretical and experimental results done. finally section 6 give the conclusions.