Advertisement

A Simulation Tool for Kinematics Analysis of a Serial Robot

  • M. Erkan KütükEmail author
  • L. Canan Dülger
  • M. Taylan Das
Conference paper
  • 486 Downloads
Part of the Lecture Notes in Mechanical Engineering book series (LNME)

Abstract

Robot programming is a very significant task in the field of robotics. Off-line programming (OLP) is a method performed before robot manipulation. It is the manual editing of the robot code using computer software to simulate the real robotic scenarios. Task sequence planning, short-term production, flexibility during operation and expecting real behaviour of the robots are some of the reasons that make the users prefer OLP. Operations can be visualized in many processes such as welding, cutting, even medical applications. In this study, off-line models are offered including the forward and inverse kinematics of a six Degree-Of-Freedom (DOF) serial robot manipulator (Denso VP-6242G). Robotic Toolbox combined with GUI Development Environment in Matlab® is used for the forward kinematics solution. A Matlab® Simulink model with Simmechanics blocks is used in the inverse kinematic analysis. Visualization is enriched by 3D Solidworks® models of the robot parts. Basic motion examples that can be used in many areas are presented.

Keywords

Off-line programming (OLP) Denso VP-6242G Forward and inverse kinematics Robotic toolbox 

References

  1. 1.
    Küçük, S., Bingül, Z.: An off-line simulation package for robotics education and industrial purposes. In: 11th IEEE International Conference on Methods and Models in Automation and Robotics, Poland (2005)Google Scholar
  2. 2.
    Küçük, S., Bingül, Z.: An off-line robot simulation toolbox. Comput. Appl. Eng. Educ. 18, 41–52 (2009)Google Scholar
  3. 3.
    Mitsi, S., Bouzakis, K.D., Mansour, G., Sagris, D., Maliaris, G.: Off-line programming of an industrial robot for manufacturing. Int. J. Adv. Manuf. Technol. 26(3), 262–267 (2004)CrossRefGoogle Scholar
  4. 4.
    Neto, P., Mendes, N.: Direct off-line robot programming via a common CAD package. Robot. Auton. Syst. 61, 896–910 (2013)CrossRefGoogle Scholar
  5. 5.
    Das, H., Bao, X., Bar-Cohen, Y., Bonitz, R., Lindemann, R., Maimone, M., Nesnas, I., Voorhees, C.: Robot manipulator technologies for planetary exploration. In: Proceedings of the Smart Structures and Integrated Systems Symposium, Newport Beach CA, March 1–5 (1999)Google Scholar
  6. 6.
    Corke, P.I.: A robotics toolbox for MATLAB. IEEE Robot. Autom. Mag. 3, 24–32 (1996)CrossRefGoogle Scholar
  7. 7.
    Nethery, J.F., Spong, M.W.: Robotica: a mathematica package for robot analysis. IEEE Robot. Autom. Mag. 1, 113–120 (1994)CrossRefGoogle Scholar
  8. 8.
    Hill, B., Tesar, D.: Rapid analysis manipulator program (RAMP) as a design tool for serial revolute robot. In: Proceedings of the IEEE International Conference on Robotics and Automation, vol. 4, pp. 2896–2901 (1996)Google Scholar
  9. 9.
    Nayar, H.D.: Robotect: serial-link manipulator design software for modeling, visualization and performance analysis. In: 7th International Conference on Control, Automation, Robotics and Vision, Singapore (2002)Google Scholar
  10. 10.
    Zlajpah, L.: Integrated environment for modelling, simulation and control design for robotic manipulators. In: 3rd MATHMOD, IMACS Symposium on Mathematical Modelling, Vienna, Austria, pp. 761–764 (2000)Google Scholar
  11. 11.
    Bingul, Z., Koseeyaporn, P., Cook, G.E.: Windows based robot simulation tools. In: 7th International Conference on Control, Automation, Robotics and Vision, Singapore (2002)Google Scholar
  12. 12.
    Turnell, D.J., Turnell, Q.V., Fatima, M.D.E.: SimBot—a simulation tool for autonomous robots. In: IEEE International Conference on Systems Man, and Cybernetics, vol. 5, pp. 2986–2990 (2001)Google Scholar
  13. 13.
    Vollmann, K.: A new approach to robot simulation tools with parametric components. In: IEEE International Conference on Industrial Technology, vol. 2, pp. 881–885 (2002)Google Scholar
  14. 14.
    Cakir, M., Butun, E.: An educational tool for 6-DOF industrial robots with quaternion algebra. Comput. Appl. Eng. Educ. 15, 143–154 (2007)CrossRefGoogle Scholar
  15. 15.
    Chinello, F., Scheggi, S., Mordibi, F., Prattichizzo, D.: The KUKA control toolbox: motion control of KUKA robot manipulators with MATLAB. IEEE Robot. Autom. Mag. 18, 69–79 (2011)CrossRefGoogle Scholar
  16. 16.
    Tao, H., Minghong, W.: Research on the simulation of robotic motion based on Matlab. Int. J. Res. Eng. Sci. (IJRES) 5(9), 1–6 (2017)Google Scholar
  17. 17.
    Kütük, M.E., Dülger, L.C., Daş, M.T.: Forward and inverse kinematics analysis of Denso Robot. In: Proceedings of the International Symposium of Mechanism and Machine Science, AzcIftomm, 11–14 September 2017, Baku, Azerbaijan (2017)Google Scholar

Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Gaziantep UniversityGaziantepTurkey
  2. 2.Izmir University of EconomicsİzmirTurkey
  3. 3.University of WaterlooWaterlooCanada
  4. 4.Kırıkkale UniversityKırıkkaleTurkey

Personalised recommendations