Structure design and workspace calculation of 6-DOF underwater manipulator

Khan, Asghar; Quan, Wang Li

doi:10.1109/ibcast.2017.7868119

Cited by 8 publications

(3 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The same point P needs to be represented in frame A with vector V as shown in equations ( 1), (2) and (3). The matrix representation of the point P in frame A is given in (3). Any point in frame B is multiplied with will project it onto frame A.…”

Section: Reference Frame Representationmentioning

confidence: 99%

See 1 more Smart Citation

Multimode Control and Simulation of 6-DOF Robotic Arm in ROS

Megalingam¹,

Geesala²,

Chanda³

et al. 2020

Adv. sci. technol. eng. syst. j.

View full text Add to dashboard Cite

The paper proposes the design and simulation of a 6 Degree of Freedom (DOF) robotic arm, tailored for the coconut crop harvesting, assistive robots like wheelchairs and Home robots, Search and rescue robots for disastrous environments, Collaborative robots for research use. A kinematics-based solution has been developed for the robotic arm which makes it easier to operate and use. Keyboard, GUI, Joystick are the three control interfaces used in the paper. The robotic control interfaces proposed in the paper were developed using the Robot Operating System (ROS). The 6-DOF articulated robotic arm was designed and visualized in RVIZ. The kinematics helped for the easy manipulation of the robotic arm with the end effector. The methodologies proposed in the research work are easy to operate and inexpensive. The designed 6 DOF robotic arm, the first three DOFs are for positioning of the robot's arm, while the residual three are used for manipulation of the gripper.

show abstract

Section: Reference Frame Representationmentioning

confidence: 99%

“…The dexterity of the robotic manipulator depends on the degree of freedom. Kinematic analysis [3] is one of the important steps in the design of the robotic arm. The loop equations of complex robotic systems can be deduced from the kinematic equations.…”

Section: Introductionmentioning

confidence: 99%

Multimode Control and Simulation of 6-DOF Robotic Arm in ROS

Megalingam¹,

Geesala²,

Chanda³

et al. 2020

Adv. sci. technol. eng. syst. j.

View full text Add to dashboard Cite

show abstract

“…The design of a robotic manipulator arm based on the Programmable Universal Manipulator Arm (PUMA560), but with various structural alterations, was detailed elsewhere [10]. The lengths of the links are changed to support the manipulator's different loading conditions.…”

Section: Introductionmentioning

confidence: 99%

Modelling and Analysis of A 6-DOF Robotic Arm for Oil and Gas Pipeline Welding Operations

Nyong-Bassey

A.M.

2022

Int. J. Robot. Autom. Technol.

View full text Add to dashboard Cite

Recent advances in robotics and automation technology have spurred the widespread use of robotic arms for industrial operations. Consequently, practising engineers, key players and particularly engineering students must be encouraged to stay abreast with these recent trends by developing hands-on and simulation experience. Therefore, this paper concisely presents the modelling, kinematic analysis as well as simulation results of an educational 6-DoF (Degrees of Freedom) robotic arm designed for welding oil and gas pipelines and other generalised tasks in a MATLAB/Simulink-Simscape environment. The joint movements of the robotic arm were simulated with a sinusoidal reference signal consisting of unit magnitude and frequency of 1 rad/s using the MATLAB Robotics Toolbox. Consequently, the results indicated satisfactory performance as the design allows the robot joints to effectively move the end-effector welding tool-piece in an elliptical path as would be required in the case of welding a cylindrical pipeline for oil and gas operations.

show abstract