Development of Direct Kinematics and Workspace Representation for Smokie Robot Manipulator & the Barret WAM

Development of Direct Kinematics and Workspace Representation for Smokie Robot Manipulator & the Barret WAM

This paper discusses modelling two 6 DOF arm robots. The first step of modelling a robot is establishing its Denavit-Hartenberg parameters. It requires assigning proper coordinates for each link and finding their exact dimensions. In this project we will develop the direct kinematics and workspace r...

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1. Verfasser: Abdolmalaki, Reza Yazdanpanah
Format: Artikel
Sprache:eng
Schlagworte:
Computer Science - Robotics
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Zusammenfassung:This paper discusses modelling two 6 DOF arm robots. The first step of modelling a robot is establishing its Denavit-Hartenberg parameters. It requires assigning proper coordinates for each link and finding their exact dimensions. In this project we will develop the direct kinematics and workspace representations for two manipulators: the Smokie Robot and the Barrett WAM. After finding the D-H parameters and creating Transformation Matrices,MATLAB programming is used to represent their workspaces.
DOI:10.48550/arxiv.1707.04820