publication . Report . 2007

On Robot Modelling using Maple

Wallén, Johanna;
Open Access English
  • Published: 01 Jan 2007
  • Publisher: Linköpings universitet, Reglerteknik
  • Country: Sweden
This report studies robot modelling by means of the computer algebra tool Maple. First coordinate systems are described, and the more general way with transformation matrices is chosen in the further work. The position kinematics of the robot are then described by homogeneous transformations. The Denavit-Hartenberg representation is used, which is a systematic way to develop the forward kinematics for rigid robots. The velocity kinematics is then described by the Jacobian. The industrial robot IRB1400 from ABB Robotics is used as an example of the theory and to show the use of the procedures developed in the Maple programming language.
arXiv: Computer Science::Robotics
ACM Computing Classification System: ComputingMethodologies_COMPUTERGRAPHICSComputingMethodologies_SYMBOLICANDALGEBRAICMANIPULATION
free text keywords: Maple, industrial robot, homogeneous transformation, Denavit-Hartenberg representation, forward kinematics, Jabcobian, TECHNOLOGY, TEKNIKVETENSKAP
Related Organizations

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[11] André Heck. Introduction to Maple. Springer Verlag, New York, 1993.

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[16] Mikael Norrlöf. Modeling of industrial robots. Technical Report LiTHISY-R-2208, Department of Electrical Engineering, Linköpings universitet, Sweden, December 1999. [OpenAIRE]

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= list of links; [link1, link2, link3] i.e, type::robot for i from 1 to nops(robot) do link[i] := op(i, robot); A[i] := DHmatrixA(link[i]); T[i] := T[i-1].A[i]: Malpe implementation, another way to do it

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