Dynamics and Kinematics Simulation for Robots

Author

Fueanggan, Santichai ; Chokchaitam, Somchart

Author_Institution

Dept. Electr. & Comput. Eng., Thammasat Univ., Pathumthani, Thailand

fYear

2009

fDate

17-20 April 2009

Firstpage

136

Lastpage

140

Abstract

The objective of this research is to design and develop the dynamics and kinematics simulation software for robot education purpose. The dynamic models of robots and controllers are composed of, six types of robot and PID-controller. The kinematics model to consider Forward kinematics based on Denavit-Hartenberg Transformation. MATLAB software is applied for creating graphical user interface allowing users to choose different kinds of simulation components (robots and controllers parameters) to be simulated. Furthermore, ROBOSIM2 is used together with MATLAB in order to display the output in three dimensional graphics based on the chosen parameters from users. The testing results can be used to analyze the robot interface and controllers. In addition, the kinematics analysis in software can be applied to robot design study.

Keywords

control engineering education; control system analysis computing; courseware; graphical user interfaces; mathematics computing; robot dynamics; robot kinematics; three-term control; MATLAB software; PID-controller; ROBOSIM2; forward kinematics; graphical user interface; kinematics simulation software; robot design; robot dynamics simulation; robot education; robot interface; robot kinematics simulation; Computational modeling; Computer simulation; Design engineering; Educational robots; Electronic mail; Equations; Kinematics; Mathematical model; Robot control; Springs; Denavit-Hartenberg Transformation; PID-controller;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Science and Information Technology - Spring Conference, 2009. IACSITSC '09. International Association of

Conference_Location

Singapore

Print_ISBN

978-0-7695-3653-8

Type

conf

DOI

10.1109/IACSIT-SC.2009.95

Filename

5169325