Modeling and Simulation of 5 DOF educational robot arm

Many universities and institutes experience difficulty in training people to work with expensive equipments. A common problem faced by educational institutions concerns the limited availability of expensive robotics equipments, with which students in the didactic program can work, in order to acquir...

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Vydáno v:2010 2nd International Conference on Advanced Computer Control Ročník 5; s. 569 - 574
Hlavní autoři: Qassem, Mohammed Abu, Abuhadrous, I, Elaydi, H
Médium: Konferenční příspěvek
Jazyk:angličtina
Vydáno: IEEE 01.03.2010
Témata:
5DOF Robot arm
Educational institutions
Educational robots
Forward Kinematics
Jacobian
Jacobian matrices
Kinematics
Mathematical model
MATLAB/Simulink
Modeling
Packaging
Path planning
Research and development
Simulation
Software packages
Testing
ISBN:1424458455, 9781424458455
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Shrnutí:Many universities and institutes experience difficulty in training people to work with expensive equipments. A common problem faced by educational institutions concerns the limited availability of expensive robotics equipments, with which students in the didactic program can work, in order to acquire valuable "hands on" experience. Therefore, the Robot Simulation Software (RSS) nowadays is paramount important. This paper presents the development of a visual software package where a AL5B Robot arm has been taken as a case study. It utilizes Matlab/Simulink and AutoCAD as the tools for testing motional characteristics of the AL5B Robot arm. A robot model will be developed; the Forward, Inverse Kinematics, Velocity Kinematics "Jacobian" and Path Planning problems will be implemented and tested. The developed package will be used as an educational tool. We think that this work will increase the education, training, research and development possibilities for robotics classes in graduate and under graduate studies.
ISBN:1424458455
9781424458455
DOI:10.1109/ICACC.2010.5487136