Title :
5-DOF manipulator simulation based on MATLAB-Simulink methodology
Author :
Velarde-Sanchez, J.A. ; Rodriguez-Gutierrez, S.A. ; Garcia-Valdovinos, L.G. ; Pedraza-Ortega, C.J.
Author_Institution :
CIDIT-Fac. de Inf., Univ. Autonoma de Queretaro, Queretaro, Mexico
Abstract :
This work presents a novel simulation methodology applied to a 5-DOF manipulator. The work includes mathematical modeling of the direct, inverse and differential kinematics as well as the dynamics of the manipulator. The method implements the path following in the 3D space and uses the Matlab-Simulink approach. Several paths were tested to verify the method. This methodology can be used with different robots to test the behavior and control laws.
Keywords :
digital simulation; manipulator dynamics; manipulator kinematics; mathematics computing; mechanical engineering computing; path planning; 3D space; 5-DOF manipulator simulation; MATLAB Simulink methodology; differential kinematics; direct kinematics; inverse kinematics; manipulator dynamics; path following; Computer languages; Equations; Gravity; Manipulator dynamics; Mathematical model; Orbital robotics; Robot kinematics; Robot programming; Service robots; Testing; Manipulator; Simulation methodology; Simulink;
Conference_Titel :
Electronics, Communications and Computer (CONIELECOMP), 2010 20th International Conference on
Conference_Location :
Cholula
Print_ISBN :
978-1-4244-5352-8
Electronic_ISBN :
978-1-4244-5353-5
DOI :
10.1109/CONIELECOMP.2010.5440751
