Abstract
This work presents the kinematics model of an RA-02 (a 4 DOF) robotic arm. The direct kinematic problem is addressed using both the Denavit-Hartenberg (DH) convention and the product of exponential formula, which is based on the screw theory. By comparing the results of both approaches, it turns out that they provide identical solutions for the manipulator kinematics. Furthermore, an algebraic solution of the inverse kinematics problem based on trigonometric formulas is also provided. Finally, simulation results for the kinematics model using the Matlab program based on the DH convention are presented. Since the two approaches are identical, the product of exponential formula is supposed to produce same simulation results on the robotic arm studied.
| Original language | English |
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| Title of host publication | Proceedings - 2015 International Conference on Control, Automation and Robotics, ICCAR 2015 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 87-91 |
| Number of pages | 5 |
| ISBN (Electronic) | 9781467375238 |
| DOIs | |
| State | Published - 23 Jul 2015 |
Publication series
| Name | Proceedings - 2015 International Conference on Control, Automation and Robotics, ICCAR 2015 |
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Bibliographical note
Publisher Copyright:© 2015 IEEE.
Keywords
- DH convention
- Robotics
- kinematics
- product of exponentials
- simulations
ASJC Scopus subject areas
- Artificial Intelligence
- Control and Systems Engineering