Simulation and interfacing of 5 DOF educational robot arm

العناوين الأخرى

ربط و محاكاة لذراع روبوت تعليمي ذو خمس مفاصل

مقدم أطروحة جامعية

Abu Qasim, Muhammad Riyad

مشرف أطروحة جامعية

Abu Hadrus, Iyad
al-Aydi, Hatim Ali

الجامعة

الجامعة الإسلامية

الكلية

كلية الهندسة

القسم الأكاديمي

قسم الهندسة الكهربائية

دولة الجامعة

فلسطين (قطاع غزة)

الدرجة العلمية

ماجستير

تاريخ الدرجة العلمية

2010

الملخص الإنجليزي

Many universities and institutes experience difficulty in training people to work with expensive equipment's.

A common problem faced by educational institutions concerns the limited availability of expensive robotics equipment's, with which students in the academic programs can work, in order to acquire valuable "hands on" experience.

Therefore, the Robot Simulation Software (RSS) nowadays is paramount important. Moreover, hands on experience with programmable robots give student great understanding. This work reports the development of a visual software package where an AL5B Robot arm has been taken as a case study.

It adopts the virtual reality interface design methodology and utilizes MATLAB / Simulink and AutoCAD as tools for testing motional characteristics of the AL5B Robot arm.

Moreover, the developed model is implemented and tested in order to analyze and improve the algorithms of Kinematics, Inverse Kinematics, Velocity Kinematics "Jacobian" and Trajectory Planning.

The package life cycle is documented.

Then, a comparison between the simulated package and the physical arm is accomplished in terms of motion, trajectories, and kinematics.

The developed package is used as an educational tool in to enhance the applied and experimental research opportunities and it improve the robotics curricula at the graduate and undergraduate levels.

التخصصات الرئيسية

الهندسة الكهربائية

الموضوعات

• برمجيات الحاسوب

عدد الصفحات

79

قائمة المحتويات

• APA
• MLA
• AMA

لغة النص

الإنجليزية

نوع البيانات

رسائل جامعية

رقم السجل

BIM-300462