Design, simulation and control in virtual reality of a RV-2AJ robot

The paper presents the realization of a geometrical model of the RV-2AJ robotic arm built by Mitsubishi using the CAD environment SolidWorks. The geometrical modelling was done according to the robots dimensions and without putting in virtual model the parts that don´t have a major influence in his kinematics; like screws, nuts or wires. The robots arm kinematics where then resolved and its schematics where presented. The direct kinematic problem, that shows how to calculate the position of the end-effector when the angles in the structures joins are known, is then presented with his equations. Also the inverse kinematics problem is resolved and the calculations that were made to obtain the equations are presented. The model was then exported from the geometrical modelling environment to Matlab, were its behaviour was simulated and was visualized in a virtual reality environment. To simulate the robots arm behaviour various types of inputs where used to control the virtual model movement. These control signals will be changed from implemented predefined curves, and signals that are generated by external devices. The external device that was used to obtain the control signal was a normal computers joystick.