Abstract
Robotic manipulators have besides static positioning problems, but besides static we have in the robot its speeds and forces applied in any kind of movement. one of the show important activities of robot motion control is the definition of its movements in the workspace. to perform these moves its joints need I ‘m moving and to define these positions in the spaces we need to calculate the direct kinematics and the opposite we call the inverse kinematics. The main objective of this paper is to present a study on velocity analysis, known as the Jacobian matrix. The methodology employed in this exploratory scientific research will ok developed from experimental tests, bibliographic references and case studies applied at the Advanced robotics Institute (IAR). the robot under study is the YASKAWA-MOTOMAN-GP7 present at the robotics Laboratory of the IAR. The work brings as contribution the implementation of the Denavit-Hartenberg notation and the validation of the Jacobian matrix of the robot. The results are the determination of the equations of the inverse kinematics using the method based on the inverse Jacobian matrix. The code was implemented in MATLAB© software capable of proving the developed mathematical model, which is applicable in industrial robots.
Sign-in/Register to access full text options 
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 callDisclaimer: 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.
