Simulation and interfacing of 5 DOF educational robot arm
Other Title(s)
ربط و محاكاة لذراع روبوت تعليمي ذو خمس مفاصل
Dissertant
Thesis advisor
Abu Hadrus, Iyad
al-Aydi, Hatim Ali
University
Islamic University
Faculty
Faculty of Engineering
Department
Electrical Engineering Department
University Country
Palestine (Gaza Strip)
Degree
Master
Degree Date
2010
English Abstract
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.
Main Subjects
Topics
No. of Pages
79
Table of Contents
Table of contents.
Abstract .
Chatper One : introduction.
Chapter Two : theoretical background.
Chapter Three : kinematics.
Chapter Four : differential kinematics and statics.
Chapter Five : trajectory planning.
Chapter Six : robot hardware and software.
Chapter Seven : results and discussions.
Chapter Eight : conclusion and recommendations.
References.
American Psychological Association (APA)
Abu Qasim, Muhammad Riyad. (2010). Simulation and interfacing of 5 DOF educational robot arm. (Master's theses Theses and Dissertations Master). Islamic University, Palestine (Gaza Strip)
https://search.emarefa.net/detail/BIM-300462
Modern Language Association (MLA)
Abu Qasim, Muhammad Riyad. Simulation and interfacing of 5 DOF educational robot arm. (Master's theses Theses and Dissertations Master). Islamic University. (2010).
https://search.emarefa.net/detail/BIM-300462
American Medical Association (AMA)
Abu Qasim, Muhammad Riyad. (2010). Simulation and interfacing of 5 DOF educational robot arm. (Master's theses Theses and Dissertations Master). Islamic University, Palestine (Gaza Strip)
https://search.emarefa.net/detail/BIM-300462
Language
English
Data Type
Arab Theses
Record ID
BIM-300462
