simulation and interfacing of 5 dof educational robot arm

تأليف: hatem ali elaydi(مشرف):: iyad mohammed ayoub abuhadrous(مشرف مشارك):: mohammed reyad mohammed abuqassem(اعداد)
اللغة: إنجليزي
النشر: gaza strip:author 2010
المكان:
النوع: رسائل جامعية
عدد الصفحات: 79
المواضيع: robots – electronic control – automatic control engineering:: الانسان الالي:: الروبوت
رقم التصنيف: 629.892
الرقم العام:

العنوان : simulation and interfacing of 5 dof educational robot arm

ABSTRACT

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 academic programs can work, in order to acquire valuable “hands on” experience.

Therefore, the Robot Simulation Software (RSS) nowadays is paramount important.
Moreover, hands on experience with programmable robots gives student great understanding.
This work reports the development of a visual software package where an AL5B Robot arm has been taken as a case study. It adopts the virtual reality interface design methodology and utilizes MATLAB/Simulink and AutoCAD as tools for testing motional characteristics of the AL5B Robot arm.
Moreover, the developed model is implemented and tested in order to analyze and improve the algorithms of Kinematics,

Inverse Kinematics, Velocity Kinematics “Jacobian” and Trajectory Planning. The package life cycle is documented. Then, a comparison between the simulated package and the physical arm is accomplished in terms of motion, trajectories, and kinematics.
The developed package is used as an educational tool in to enhance the applied and experimental research opportunities and it improve the robotics curricula at the graduate and undergraduate levels.

Keywords: Virtual Reality, Modeling, Simulation, Interface, MATLAB/Simulink, AL5B Robot arm, Forward Kinematics, Inverse Kinematics, Trajectory Planning, Jacobian

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