Abstract
The aim of this study is to realize the physical model of a robot arm with two degrees of freedom in the MATLAB Simulink environment, to show that the physical model of the robot arm matches the mathematical model and that the results of these models match. For this purpose, kinematic and dynamic modeling of a two-degree-of-freedom robotic arm is performed in the MATLAB Simulink environment. To ensure the accuracy of the physical model created in the MATLAB Simulink environment, mathematical equations are defined to a function within the physical model, in other words, a mathematical model is created. The kinematic equations of the robotic arm are examined in two steps as forward kinematics and inverse kinematics equations, and the geometric approach is used when obtaining the kinematic equations. The Lagrange-Euler method is used to obtain dynamic equations. The results obtained show that the mathematical kinematic and dynamic equations match the physical model in the MATLAB Simulink environment and reveal that the system is reliable.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: Kırklareli Üniversitesi Mühendislik ve Fen Bilimleri Dergisi
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
