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Article
Kinematics Analysis of 5250 Lab-Volt 5-DOF Robot Arm
التحليل الحركي لذراع روبوت لاب فولت 5250 ذا خمسة درجات حرية للحركة

Authors: Wathik Isaa Mahdi AL-Tameemi --- Wael Mohammed Hasan Hadi
Journal: Engineering and Technology Journal مجلة الهندسة والتكنولوجيا ISSN: 16816900 24120758 Year: 2014 Volume: 32 Issue: 9 Part (A) Engineering Pages: 2196-2204
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

This paper presents for the first time a complete kinematic analysis of 5250 Lab-Volt 5-Dof robot which include both forward kinematics and inverse kinematics for this robot arm. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. The forward and inverse kinematics for any type of robots are very important in both trajectory planning and position control for the robot arm,the Denavit-Harbenterg (D-H) representation is used to model robot links and joints in this paper. The inverse kinematics have been solved using analytical solution and programmed using MATLAB to move the robot.

يقدم هذا البحث وللمرة الاولى تحليل كاملللحركة لروبوت لاب فولت 5250 الذي لديه خمس درجات حرية للحركة, ويشمل هذا التحليل تحليل كل من الحركة الامامية والعكسية لهذا النوع من الروبوتات. وتعرف مشكلة الحركة بانها التحويل من الاحداثیاتالدیكارتیة الى احداثيات مفاصل الروبوت وبالعكس. تحليل الحركة الامامية والعكسية لأي نوع من انواع الروبوتات مهم جدا في تخطيط مسار الروبوت والسيطرة على موقع الروبوت, وقد استعمل في هذا البحث تحويل Denavit-Harbenterg لنمذجة مفاصل ووصلات الروبوت. وقد استخدم في التحليل العكسي الحل التحليلي و تمت برمجته باستخدام برنامج الماتلاب لتحريك الروبوت


Article
Modeling and Control of 5250 Lab-Volt 5 DoF Robot Manipulator †

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Abstract

Abstract –This paper presents the modeling and control simulation for Lab-Volt 5250 five degree of freedom robot manipulator based on the standard Denavit- Hartenberg approach. The dynamic model of the robot derived using Euler- Lagrange equation which is the energy balance equation. This dynamic model has a very high nonlinearity that is represented by using MATLAB, m-file and simulation to run the dynamic model in open and close loop. In this research, the close loop simulation is done by using two types of control theory that applied to control each joint of the robot manipulator independently, the first one is PD controller and the second one is an intelligent controller which is PD-like fuzzy controller used to control the joint position.

Keywords

Denavit- Hartenberg --- Dynamics --- PD --- Fuzzy.

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