Comparative study of the VINCI Robot's arm end effector matrix using Python and MATLAB

Abstract

The transformation matrix based on D-H parameters has been utilized to find the end effector of serial manipulator viz., surgical Robot, single-finger type, nano manipulator, etc. For object manipulation at microscale and texture identification using tactile finger at end effector, it is essential for nano manipulator and tactile finger to be more precise and accurate. The accuracy and precision of these manipulators depend on the orientation and position computed by the used software platform. The present study compares the end effector matrix of the VINCI robotic arm with D-H parameters using MAT LAB and PYTHON. The transformation matrix of order 4 × 4 described the end effectors position and orientation concerning to fixed base. The Forward Kinematics of the Vinci Robot 4 DOF (degree of freedom) is calculated using MAT LAB and Python software compared with the End effector matrix. The comparative study of the end effector matrix shows that Python is more accurate and efficient in orientation and position.