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Kinematic Modelling and Simulation of a 2-R Robot Using SolidWorks and Verification by MATLAB/Simulink
: Modello cinematico e simulazione di un robot 2R utilizzando solidworks e verifica mediante Matlab/Simulink, in: International Journal of Advanced Robotic Systems |
Documenti accessibili
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Informazioni generali |
| Autore |
Gouasmi, Mahmoud; Ouali, Mohammed; Fernini, Brahim; Meghatria, M’hamed |
| Pubblicato |
InTech Open Access Publisher, 2012
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| Abstract |
The simulation of robot systems is becoming
very popular, especially with the lowering of the cost of
computers, and it can be used for layout evaluation,
feasibility studies, presentations with animation and offline
programming.
The trajectory planning of redundant manipulators is a
very active area since many tasks require special
characteristics to be satisfied. The importance of
redundant manipulators has increased over the last two
decades because of the possibility of avoiding
singularities as well as obstacles within the course of
motion. The angle that the last link of a 2 DOF
manipulator makes with the x‐axis is required in order to
find the solution for the inverse kinematics problem. This
angle could be optimized with respect to a given
specified key factor (time, velocity, torques) while the
end‐effector performs a chosen trajectory (i.e., avoiding
an obstacle) in the task space.
Modeling and simulation of robots could be achieved
using either of the following models: the geometrical
model (positions, postures), the kinematic model and the
dynamic model.
To do so, the modelization of a 2‐R robot type is
implemented. Our main tasks are comparing two robot
postures with the same trajectory (path) and for the same
length of time, and establishing a computing code to
obtain the kinematic and dynamic parameters.
SolidWorks and MATLAB/Simulink softwares are used
to check the theory and the robot motion simulation.
This could be easily generalized to a 3‐R robot and
possibly therefore to any serial robot (Scara, Puma, etc.).
The verification of the obtained results by both softwares
allows us to qualitatively evaluate and underline the
validityof the chosen model and obtain the right
conclusions. The results of the simulations are discussed
and an agreement between the two softwares is certainly
obtained. |
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International Journal of Advanced Robotic Systems
Autore: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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