Kinematics Analysis of 5 DOF Robotic Arm

Abstract

This paper presents the forward, inverse, and velocity kinematics analysis of a 5 DOF robotic arm. The Denavit-Hartenberg (DH) parameters are used to determination of the forward kinematics while an algebraic solution is used in the inverse kinematics solution to determine the position and orientation of the end effector. Jacobian matrix is used to calculate the velocity kinematics of the robotic arm. The movement of the robotic arm is accomplished using the microcontroller (Arduino Mega2560), which controlling on five servomotors of the robotic arm joints and one servo of the gripper. The position and orientation of the end effector are calculated using MATLAB software depending on the DH parameters. The results indicated the shoulder joint is more effect on the velocity of the robotic arm from the other joints, and the maximum error in the position of the end-effector occurred with the z-axis and minimum error with the y-axis.

Modelling and simulation of dual arm robot for material transfer applications

“…The object detection is used to get the size and position of the object in front of the robot, the image is taken from the camera i.e.., Vision sensor in the V-Rep software and it was sent to the Python software. In the python program the Image was processed by separating the images into two separate images by masking technique one for the height and other for the shape of the object, by measuring the pixel we get the dimensions of object in pixels [9] as shown in Figure 4. To get the size in cm a reference object of known size is provided at the left most of the table which is seen in the image of from the vision sensor, in image processing the pixels/cm ratio was found by comparing the reference object to its pixels and it is used to find the shape and size of the object.…”