Kinematic Analysis of 3 D.O.F of Robot
Janakinandan Nookala1, Prudhvi Gogineni2, Suresh Babu G3
1Janakinandan Nookala, KL University, Guntur (A.P.), India.
2Prudhvi Gogineni, KL University, Guntur (A.P.), India.
3Prudhvi Gogineni, KL University, Guntur (A.P.), India.
Manuscript received on March 25, 2013. | Revised Manuscript received on April 13, 2013. | Manuscript published on April 30, 2013. | PP: 452-456 | Volume-2, Issue-4, April 2013. | Retrieval Number: D1461042413/2013©BEIESP
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: The study of motion can be divided into kinematics and dynamics. Direct kinematics refers to the calculation of end effectors position, orientation, velocity, and acceleration when the corresponding joint values are known. Inverse refers to the opposite case in which required joint values are calculated for given end effector values, as done in path planning. Some special aspects of kinematics include handling of redundancy collision avoidance, and singularity avoidance. Once all relevant positions, velocities, and accelerations have been calculated using kinematics, this information can be used to improve the control algorithms of a robot. Most of the industrial robots are described geometrically by their Denavit-Hartenberg (DH) parameters, which are also difficult to perceive for students. Students will find the subject easier to learn if they are able to visualize in 3 dimensions. Tools that aid its learning have been developed by universities across the world as referred elsewhere. This project proposes Robo Analyzer, a 3D model based software that can be used to teach robotics subjects to undergraduate and postgraduate courses in engineering colleges in India and elsewhere. In the present implementation, it can be used to learn DH parameters, forward kinematics of serial robots with revolute joints and allows 3D animation and graph plots as outputs.
Keywords: (DH), 3D.