Velocity kinematics analysis and trajectory planning of 5 DOF robotic arm
Joint Authors
Khulayf, Ali A.
Abbud, Muhannad Q.
Abbas, Tahsin Fadil
Source
Engineering and Technology Journal
Issue
Vol. 38, Issue 5A (31 May. 2020), pp.738-747, 10 p.
Publisher
Publication Date
2020-05-31
Country of Publication
Iraq
No. of Pages
10
Main Subjects
Information Technology and Computer Science
Topics
Abstract EN
Trajectory planning is important in robots to achieve smooth path planning.
This paper presents the velocity kinematics analysis and trajectory planning of a 5 DOF robotic arm.
The Jacobian matrix is utilized to analyze the velocity kinematics and the third-order polynomial equation is used to determine the path of angle, velocity, and acceleration of the robotic arm.
A 5 DOF robotic arm used withrevolute joints and the motion of it is performed using the Arduino Mega2560 (microcontroller) which controlling on servo motors.
The results of the velocity kinematics indicated the maximum linear velocity occurs with the z-direction and the cubic polynomial equation satisfied a smooth path for angle and velocity but a discontinuous path for polynomial equation is used to determine the path of angle, velocity, and acceleration of the robotic arm.
A 5 DOF robotic arm used withrevolute joints and the motion of it is performed using the Arduino Mega2560 (microcontroller) which controlling on servo motors.
The results of the velocity kinematics indicated the maximum linear velocity occurs with the z-direction and the cubic polynomial equation satisfied a smooth path for angle and velocity but a discontinuous path for acceleration.
American Psychological Association (APA)
Abbas, Tahsin Fadil& Khulayf, Ali A.& Abbud, Muhannad Q.. 2020. Velocity kinematics analysis and trajectory planning of 5 DOF robotic arm. Engineering and Technology Journal،Vol. 38, no. 5A, pp.738-747.
https://search.emarefa.net/detail/BIM-1236559
Modern Language Association (MLA)
Abbas, Tahsin Fadil…[et al.]. Velocity kinematics analysis and trajectory planning of 5 DOF robotic arm. Engineering and Technology Journal Vol. 38, no. 5A (2020), pp.738-747.
https://search.emarefa.net/detail/BIM-1236559
American Medical Association (AMA)
Abbas, Tahsin Fadil& Khulayf, Ali A.& Abbud, Muhannad Q.. Velocity kinematics analysis and trajectory planning of 5 DOF robotic arm. Engineering and Technology Journal. 2020. Vol. 38, no. 5A, pp.738-747.
https://search.emarefa.net/detail/BIM-1236559
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 747
Record ID
BIM-1236559
