publication . Article . 2013

End-Effector Position Analysis Using Forward Kinematics For 5 Dof Pravak Robot Arm

Jolly Atit Shah; S.S. Rattan; B.C. Nakra;
Open Access
  • Published: 01 Mar 2013 Journal: IAES International Journal of Robotics and Automation (IJRA), volume 2 (issn: 2089-4856, Copyright policy)
  • Publisher: Institute of Advanced Engineering and Science
Abstract
Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the kinematic analysis of a Pravak Robot arm which is used for doing successful robotic manipulation task in its workspace. The Pravak Robot Arm is a 5-DOF robot having all the joints revolute. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. In this study the Denavit- Hartenberg (D-H) model is used to model robot links and joints. Pravak Robot Arm is a simple and safe robotic system designed for laboratory training and research applications. This robot allows to gain theor...
Subjects
arXiv: Computer Science::Robotics
free text keywords: Articulated robot, Simulation, Control engineering, Cartesian coordinate robot, Control theory, Arm solution, Robot kinematics, Robot calibration, Robot end effector, law.invention, law, Robotic arm, Robot control, Engineering, business.industry, business, Technology, T, Mechanical engineering and machinery, TJ1-1570
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