Kinematics analysis of 5 DOF robotic arm
Joint Authors
Abbud, Muhannad Q.
Khulayf, Ali Abbar
Abbas, Tahsin Fadil
Source
Engineering and Technology Journal
Issue
Vol. 38, Issue 3A (31 Mar. 2020), pp.412-422, 11 p.
Publisher
Publication Date
2020-03-31
Country of Publication
Iraq
No. of Pages
11
Main Subjects
Engineering & Technology Sciences (Multidisciplinary)
Abstract EN
This paper presents the forward, inverse, and velocity kinematics analysis of a 5 DOF robotic arm.
The Denavit-Hartenberg (DH) parameters are used to determination of the forward kinematics while an algebraic solution is used in the inverse kinematics solution to determine the position and orientation of the end effector.
Jacobian matrix is used to calculate the velocity kinematics of the robotic arm.
The movement of the robotic arm is accomplished using the microcontroller (Arduino Mega2560), which controlling on five servomotors of the robotic arm joints and one servo of the gripper.
The position and orientation of the end effector are calculated using MATLAB software depending on the DH parameters.
The results indicated the shoulder joint is more effect on the velocity of the robotic arm from the other joints, and the maximum error in the position of the end-effector occurred with the z-axis and minimum error with the y-axis.
American Psychological Association (APA)
Abbas, Tahsin Fadil& Khulayf, Ali Abbar& Abbud, Muhannad Q.. 2020. Kinematics analysis of 5 DOF robotic arm. Engineering and Technology Journal،Vol. 38, no. 3A, pp.412-422.
https://search.emarefa.net/detail/BIM-948663
Modern Language Association (MLA)
Abbas, Tahsin Fadil…[et al.]. Kinematics analysis of 5 DOF robotic arm. Engineering and Technology Journal Vol. 38, no. 3A (2020), pp.412-422.
https://search.emarefa.net/detail/BIM-948663
American Medical Association (AMA)
Abbas, Tahsin Fadil& Khulayf, Ali Abbar& Abbud, Muhannad Q.. Kinematics analysis of 5 DOF robotic arm. Engineering and Technology Journal. 2020. Vol. 38, no. 3A, pp.412-422.
https://search.emarefa.net/detail/BIM-948663
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 422
Record ID
BIM-948663