MATLAB toolbox design, implementation and interfacing for motion control of KUKA KR6-R900-SIXX robotic manipulator
العناوين الأخرى
تصميم و تطبيق و ربط أدوات برمجية الماتلاب للتحكم بحركة كوكا روبوت KR6-R900-SIXX
مقدم أطروحة جامعية
مشرف أطروحة جامعية
أعضاء اللجنة
Tutunji, Tariq A.
Bakr, Mundhir Numan
al-Rawashidah, Nadhir A.
الجامعة
جامعة فيلادلفيا
الكلية
كلية الهندسة
القسم الأكاديمي
قسم هندسة الميكاترونكس
دولة الجامعة
الأردن
الدرجة العلمية
ماجستير
تاريخ الدرجة العلمية
2016
الملخص الإنجليزي
The KUKA manipulator has a new controller version that uses KUKA.RobotSensorInterface pack-age to connect the KUKA controller with a remote PC via UDP/IP Ethernet connection.
A MATLAB Toolbox with its functions and communication tools has been developed to be inter-faced, and tested for the motion control of KUKA KR6-R900-SIXX.
This toolbox includes func-tions for computing the forward kinematics, inverse kinematics, homogeneous transformation, mo-tion control.
In the forward kinematics methods, there were two different transformation matrices to deal with the DH-parameterization and MDH-parameterization.
There were also two different solutions derived for the inverse kinematic problems; the closed-form solution for the Cartesian motion and angle-axis motion.
The Pieper’s solution method was derived based on the geometrical aspects of the mechanical design of the KUKA robotic manipulator to avoid nonlinearities problems in the closed-form solution. The Toolbox was tested by applying two different applications to check the performance of the toolbox.
The first application was GUI window built in MATLAB software to allow the user to have the ability to move the robotic manipulator to any desired position in its workspace by clicking buttons on the screen or by typing the desired position inside the GUI window.
The second applica-tion was to connect an XBOX controller with USB port of the remote PC to move the robotic ma-nipulator to any desired position. An application written in C# programming language was used to build a communication channel via UDP/IP Ethernet for transmitting data from a remote PC to the KUKA robotic manipulator and vice versa.
The network socket programming methods was used for programming the connection between them.
Results are obtained for are the positions of manipulator joints of the robot
التخصصات الرئيسية
عدد الصفحات
89
قائمة المحتويات
Table of contents.
Abstract.
Abstract in Arabic.
Chapter One : Introduction.
Chapter Two : Robot kinematics calculations.
Chapter Three : System configuration and Implementation.
Chapter Four : The MATLAB toolbox.
[Chapter Five] : Conclusion and future work.
References.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
al-Shatarat, Hani Lafi Yusuf. (2016). MATLAB toolbox design, implementation and interfacing for motion control of KUKA KR6-R900-SIXX robotic manipulator. (Master's theses Theses and Dissertations Master). Philadelphia University, Jordan
https://search.emarefa.net/detail/BIM-725531
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
al-Shatarat, Hani Lafi Yusuf. MATLAB toolbox design, implementation and interfacing for motion control of KUKA KR6-R900-SIXX robotic manipulator. (Master's theses Theses and Dissertations Master). Philadelphia University. (2016).
https://search.emarefa.net/detail/BIM-725531
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
al-Shatarat, Hani Lafi Yusuf. (2016). MATLAB toolbox design, implementation and interfacing for motion control of KUKA KR6-R900-SIXX robotic manipulator. (Master's theses Theses and Dissertations Master). Philadelphia University, Jordan
https://search.emarefa.net/detail/BIM-725531
لغة النص
الإنجليزية
نوع البيانات
رسائل جامعية
رقم السجل
BIM-725531
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر