A STUDY OF KINEMATICS AND MODELING OF INDUSTRIAL ROBOT ARM USING MATLAB
Keywords:
Industrial robot arm, Forward kinematics, Inverse kinematics, Robot modelingAbstract
Training aims to provide an experience for learners in order to understand how industrial robots function using simulated robots prior to performing with the one in real world is fairly crucial. Therefore, this research is conducted to study forward kinematics, invert kinematics, and robot modeling using the widely used software, MATLAB. The study consists of three steps: (1) to create a simulated 5-Degree of Freedom (DOF) robot arm using computer-aided design (CAD), (2) to transform the transformation matrix of the robotic arm based on the principles of Denavit-Hardenberg and MATLAB Simulink has been used for kinematics modeling, (3) to validate the model by comparing the end-effector (EE) display between the results from MATLAB and CAD program. The study finds that the created model renders the position of the EE which is consistent with the result yielded by the CAD. Furthermore, with the two-decimal-points display, the result is found to be more accurate. Finally, the displayed results from the model can be used as an effective virtual learning tool for the learners.
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