Teaching Joint-Level Robot Programming with a New Robotics Software Tool

With the rising popularity of robotics in our modern world there is an increase in the number of engineering programs that offer the basic Introduction to Robotics course. This common introductory robotics course generally covers the fundamental theory of robotics including robot kinematics, dynamic...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:Robotics (Basel) Jg. 6; H. 4; S. 41
Hauptverfasser: Gonzalez, Fernando, Zalewski, Janusz
Format: Journal Article
Sprache:Englisch
Veröffentlicht: MDPI AG 01.12.2017
Schlagworte:
3D rendering
education
introduction to robotics course
robot joint programming
robot programming
robotics
software tool
virtual robot
ISSN:2218-6581, 2218-6581
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Abstract With the rising popularity of robotics in our modern world there is an increase in the number of engineering programs that offer the basic Introduction to Robotics course. This common introductory robotics course generally covers the fundamental theory of robotics including robot kinematics, dynamics, differential movements, trajectory planning and basic computer vision algorithms commonly used in the field of robotics. Joint programming, the task of writing a program that directly controls the robot’s joint motors, is an activity that involves robot kinematics, dynamics, and trajectory planning. In this paper, we introduce a new educational robotics tool developed for teaching joint programming. The tool allows the student to write a program in a modified C language that controls the movement of the arm by controlling the velocity of each joint motor. This is a very important activity in the robotics course and leads the student to gain knowledge of how to build a robotic arm controller. Sample assignments are presented for different levels of difficulty.
AbstractList With the rising popularity of robotics in our modern world there is an increase in the number of engineering programs that offer the basic Introduction to Robotics course. This common introductory robotics course generally covers the fundamental theory of robotics including robot kinematics, dynamics, differential movements, trajectory planning and basic computer vision algorithms commonly used in the field of robotics. Joint programming, the task of writing a program that directly controls the robot’s joint motors, is an activity that involves robot kinematics, dynamics, and trajectory planning. In this paper, we introduce a new educational robotics tool developed for teaching joint programming. The tool allows the student to write a program in a modified C language that controls the movement of the arm by controlling the velocity of each joint motor. This is a very important activity in the robotics course and leads the student to gain knowledge of how to build a robotic arm controller. Sample assignments are presented for different levels of difficulty.
Author Gonzalez, Fernando
Zalewski, Janusz
Author_xml – sequence: 1
  givenname: Fernando
  surname: Gonzalez
  fullname: Gonzalez, Fernando
– sequence: 2
  givenname: Janusz
  surname: Zalewski
  fullname: Zalewski, Janusz
BookMark eNp1kE9LAzEQxYNUsNaeve4XWJs_uzE5SlFbKSpaz2F2NmlTthvJBovf3q1VkIJzmWEe7zePOSeDNrSWkEtGr4TQdBJDFZLHTtKC0oKdkCHnTOWyVGzwZz4j467b0L40E0qyIZktLeDat6vsIfg25Qv7YZvsZY_LnmNYRdhu9-rOp3UG2aPdHcT-VvYaXNpBtNkyhOaCnDpoOjv-6SPydne7nM7yxdP9fHqzyJFfq5RzLoFJWwrkFBkyySQHzuqSVlWJVZ9dOyYYalcLaWvUKDgKUVKlqgLAiRGZH7h1gI15j34L8dME8OZ7EeLKQOzjNdZQoR0tKln0tkIjA-CodF1aVTonsOpZ5YGFMXRdtM6gT5B8aFME3xhGzf675ui7vW9y5PvN8Z_jCw32gNY
CitedBy_id crossref_primary_10_1051_shsconf_202110601002
crossref_primary_10_3390_bdcc3040052
crossref_primary_10_3389_fbioe_2022_1074990
crossref_primary_10_1177_1729881418808711
crossref_primary_10_1007_s10639_022_11433_6
crossref_primary_10_3390_robotics9040084
Cites_doi 10.1002/cae.20104
10.1109/CoASE.2015.7294097
10.1109/13.912707
10.1109/EDUCON.2016.7474679
10.1109/M-RA.2007.912004
10.1109/EDUCON.2016.7474585
ContentType Journal Article
DBID AAYXX
CITATION
DOA
DOI 10.3390/robotics6040041
DatabaseName CrossRef
Open Access Journals (DOAJ)
DatabaseTitle CrossRef
DatabaseTitleList
CrossRef
Database_xml – sequence: 1
  dbid: DOA
  name: DOAJ Directory of Open Access Journals
  url: https://www.doaj.org/
  sourceTypes: Open Website
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
Education
EISSN 2218-6581
ExternalDocumentID oai_doaj_org_article_039f04b64af349c1aa2c89d5e85ff3cb
10_3390_robotics6040041
GroupedDBID 5VS
8FE
8FG
AAYXX
ABJCF
ABUWG
ADBBV
ADMLS
AFFHD
AFKRA
ALMA_UNASSIGNED_HOLDINGS
ARAPS
AZQEC
BCNDV
BENPR
BGLVJ
BPHCQ
CCPQU
CITATION
DWQXO
GNUQQ
GROUPED_DOAJ
HCIFZ
IPNFZ
K6V
K7-
KQ8
L6V
M7S
MODMG
M~E
OK1
P62
PHGZM
PHGZT
PIMPY
PQGLB
PQQKQ
PROAC
PTHSS
RIG
ID FETCH-LOGICAL-c278t-226a16e53c20c1c16162a21d50bb5cb0419f131c9fd36edc9c32c335088b4aaf3
IEDL.DBID DOA
ISICitedReferencesCount 6
ISICitedReferencesURI http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000419218500020&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
ISSN 2218-6581
IngestDate Fri Oct 03 12:51:46 EDT 2025
Sat Nov 29 07:16:39 EST 2025
Tue Nov 18 21:12:18 EST 2025
IsDoiOpenAccess true
IsOpenAccess true
IsPeerReviewed true
IsScholarly true
Issue 4
Language English
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-c278t-226a16e53c20c1c16162a21d50bb5cb0419f131c9fd36edc9c32c335088b4aaf3
OpenAccessLink https://doaj.org/article/039f04b64af349c1aa2c89d5e85ff3cb
ParticipantIDs doaj_primary_oai_doaj_org_article_039f04b64af349c1aa2c89d5e85ff3cb
crossref_citationtrail_10_3390_robotics6040041
crossref_primary_10_3390_robotics6040041
PublicationCentury 2000
PublicationDate 2017-12-01
PublicationDateYYYYMMDD 2017-12-01
PublicationDate_xml – month: 12
  year: 2017
  text: 2017-12-01
  day: 01
PublicationDecade 2010
PublicationTitle Robotics (Basel)
PublicationYear 2017
Publisher MDPI AG
Publisher_xml – name: MDPI AG
References Gonzalez (ref_3) 2016; 26
ref_13
ref_12
ref_11
ref_10
ref_1
ref_2
Robinette (ref_14) 2001; 44
(ref_15) 2010; 20
Cakir (ref_16) 2007; 15
Gonzalez (ref_4) 2016; 1
ref_17
ref_9
ref_8
ref_5
ref_7
ref_6
References_xml – ident: ref_7
– volume: 15
  start-page: 143
  year: 2007
  ident: ref_16
  article-title: An Educational Tool for 6-DOF Industrial Robots with Quaternion Algebra
  publication-title: Comput. Appl. Eng. Educ.
  doi: 10.1002/cae.20104
– ident: ref_6
– ident: ref_9
– ident: ref_12
  doi: 10.1109/CoASE.2015.7294097
– ident: ref_8
– volume: 26
  start-page: 61
  year: 2016
  ident: ref_3
  article-title: A New Robotics Educational System for Teaching Advanced Engineering Concepts to K-12 students
  publication-title: Comput. Educ. J.
– ident: ref_5
– volume: 20
  start-page: 750
  year: 2010
  ident: ref_15
  article-title: Simulation Tool for Teaching and Learning 3D Kinematics Workspaces of Serial Robotic Arms with up to 5-DOF
  publication-title: Comput. Appl. Eng. Educ.
– volume: 44
  start-page: 29
  year: 2001
  ident: ref_14
  article-title: ROBOT-DRAW, an Internet-Based Visualization Tool for Robotics Education
  publication-title: IEEE Trans. Educ.
  doi: 10.1109/13.912707
– ident: ref_2
– volume: 1
  start-page: 60
  year: 2016
  ident: ref_4
  article-title: An Educational Tool to Support Learning Robot Vision
  publication-title: Trans. Tech. STEM Educ.
– ident: ref_17
– ident: ref_1
– ident: ref_13
  doi: 10.1109/EDUCON.2016.7474679
– ident: ref_10
  doi: 10.1109/M-RA.2007.912004
– ident: ref_11
  doi: 10.1109/EDUCON.2016.7474585
SSID ssj0000913861
Score 2.05341
Snippet With the rising popularity of robotics in our modern world there is an increase in the number of engineering programs that offer the basic Introduction to...
SourceID doaj
crossref
SourceType Open Website
Enrichment Source
Index Database
StartPage 41
SubjectTerms 3D rendering
education
introduction to robotics course
robot joint programming
robot programming
robotics
software tool
virtual robot
Title Teaching Joint-Level Robot Programming with a New Robotics Software Tool
URI https://doaj.org/article/039f04b64af349c1aa2c89d5e85ff3cb
Volume 6
WOSCitedRecordID wos000419218500020&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
journalDatabaseRights – providerCode: PRVAON
  databaseName: DOAJ Directory of Open Access Journals
  customDbUrl:
  eissn: 2218-6581
  dateEnd: 99991231
  omitProxy: false
  ssIdentifier: ssj0000913861
  issn: 2218-6581
  databaseCode: DOA
  dateStart: 20120101
  isFulltext: true
  titleUrlDefault: https://www.doaj.org/
  providerName: Directory of Open Access Journals
– providerCode: PRVHPJ
  databaseName: ROAD: Directory of Open Access Scholarly Resources
  customDbUrl:
  eissn: 2218-6581
  dateEnd: 99991231
  omitProxy: false
  ssIdentifier: ssj0000913861
  issn: 2218-6581
  databaseCode: M~E
  dateStart: 20120101
  isFulltext: true
  titleUrlDefault: https://road.issn.org
  providerName: ISSN International Centre
– providerCode: PRVPQU
  databaseName: Advanced Technologies & Aerospace Database
  customDbUrl:
  eissn: 2218-6581
  dateEnd: 99991231
  omitProxy: false
  ssIdentifier: ssj0000913861
  issn: 2218-6581
  databaseCode: P5Z
  dateStart: 20120101
  isFulltext: true
  titleUrlDefault: https://search.proquest.com/hightechjournals
  providerName: ProQuest
– providerCode: PRVPQU
  databaseName: Computer Science Database
  customDbUrl:
  eissn: 2218-6581
  dateEnd: 99991231
  omitProxy: false
  ssIdentifier: ssj0000913861
  issn: 2218-6581
  databaseCode: K7-
  dateStart: 20120101
  isFulltext: true
  titleUrlDefault: http://search.proquest.com/compscijour
  providerName: ProQuest
– providerCode: PRVPQU
  databaseName: Engineering Database
  customDbUrl:
  eissn: 2218-6581
  dateEnd: 99991231
  omitProxy: false
  ssIdentifier: ssj0000913861
  issn: 2218-6581
  databaseCode: M7S
  dateStart: 20120101
  isFulltext: true
  titleUrlDefault: http://search.proquest.com
  providerName: ProQuest
– providerCode: PRVPQU
  databaseName: ProQuest Central
  customDbUrl:
  eissn: 2218-6581
  dateEnd: 99991231
  omitProxy: false
  ssIdentifier: ssj0000913861
  issn: 2218-6581
  databaseCode: BENPR
  dateStart: 20120101
  isFulltext: true
  titleUrlDefault: https://www.proquest.com/central
  providerName: ProQuest
– providerCode: PRVPQU
  databaseName: Publicly Available Content Database
  customDbUrl:
  eissn: 2218-6581
  dateEnd: 99991231
  omitProxy: false
  ssIdentifier: ssj0000913861
  issn: 2218-6581
  databaseCode: PIMPY
  dateStart: 20120101
  isFulltext: true
  titleUrlDefault: http://search.proquest.com/publiccontent
  providerName: ProQuest
link http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwrV1NS8MwGA4yPOhBdCrOL3Lw4CUuadI0Oao4ho4xdMpuJUkTGMxWatW_b9LWMQXx4qWHJm3T5w3vR3h4XgDOhFRBdYUjlTCNWJwopAwWiGeYOKd86VOzLZ5GyXgsZjM5WWn1FThhjTxwA1wfU-kw05wpR5k0RKnICJnFVsTOUaOD98WJXCmmah8sCRWcNFo-1Nf1_bLQRRA-5vWuJd_C0Ipafx1WBttgq80H4WWzjh2wZvNuaKXc0i66YHNFMXAXDKct-xHeFvO8QqPA-YH34atw0lCtnsNoOF6FCnoX1gz6JcEH73E_VGnhtCgWe-BxcDO9HqK2GQIyUSIq5NMkRbiNqYmwIcYnajxSEclirHVstP8l6QglRrqMcpsZaWhkKA35l2bKg7cPOnmR2wMAsdKZj-PcaWUYFtqbizNLfabjskRmUQ9cfGGTmlYpPDSsWKS-Yghgpj_A7IHz5QMvjUjG71OvAtjLaUHdur7hbZ62Nk__svnhf7zkCGxEIUTX1JRj0KnKN3sC1s17NX8tT-vt5K93CfoEYQnSDA
linkProvider Directory of Open Access Journals
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Teaching+Joint-Level+Robot+Programming+with+a+New+Robotics+Software+Tool&rft.jtitle=Robotics+%28Basel%29&rft.au=Gonzalez%2C+Fernando&rft.au=Zalewski%2C+Janusz&rft.date=2017-12-01&rft.issn=2218-6581&rft.eissn=2218-6581&rft.volume=6&rft.issue=4&rft.spage=41&rft_id=info:doi/10.3390%2Frobotics6040041&rft.externalDBID=n%2Fa&rft.externalDocID=10_3390_robotics6040041
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=2218-6581&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=2218-6581&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=2218-6581&client=summon