Abstract
The aim of this study is to analyze the robot arm kinematics which is very important for the movement of all robotic joints. Also they are very important to obtain the indication for controlling or moving of the robot arm in the workspace. In this study the kinematics of ROB0036 DFROBOT Arm will be accomplished by using LabVIEW. Finding the parameters of Denavit-Hartenberg representation, the kinematic equations of motion can be derived which solve the problems of automatic control of the 6 revolute joints DFROBOT manipulator. The kinematics solution of the LabVIEW program was found to be nearest to the robot arms actual measurements.
Highlights
The kinematics problem is related to finding the transformation from the Cartesian space to thejoint space and vice versa
In the inverse kinematic the calculations of all joints is done if the desired position and orientation of the end- effectors is determined, that means by the inverse kinematic the robotic arm joint space angles will be calculated as referred to Craig (2005)
A six degree of freedom DFROBOT has five rotational joints with a gripper and operate with their servo motors connected as an intersecting or parallel joint axis, it is a low cost educational robot manipulator, flexible and similar to industrial robot arms
Summary
The kinematics problem is related to finding the transformation from the Cartesian space to thejoint space and vice versa. The solutions of the kinematics problem of any robot manipulatorhave two types; the forward kinematic and inverse kinematics. When all joints are known the forward kinematic will determine the Cartesian space, or where the manipulator arm will be. In the inverse kinematic the calculations of all joints is done if the desired position and orientation of the end- effectors is determined, that means by the inverse kinematic the robotic arm joint space angles will be calculated as referred to Craig (2005). A six degree of freedom DFROBOT has five rotational joints with a gripper and operate with their servo motors connected as an intersecting or parallel joint axis, it is a low cost educational robot manipulator, flexible and similar to industrial robot arms. In this study the parameters of the standard Denavit Hardenberg listed in Table 1 for the 6DOF Robot Arm shown in Fig. 1 has been used for modeling and simplifying its associated kinematics
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