Title :
3D Kinematic Simulation for PA10-7C Robot Arm Based on VRML
Author :
Shen, Weimin ; Gu, Jason ; Ma, Yide
Author_Institution :
Dalhousie Univ., Halifax
Abstract :
In this paper, a graphical, flexible, interactive, and systematic 3D simulation helps facilitate analyzing and previewing kinematics of PA10-7C robot arm in terms of forward kinematics, inverse kinematics, and the Denavit-Hartenberg convention. Modeling and control are of critical importance when the robot arm is used for practical applications. In the paper, the D-H model of PA10-7C robot arm is given first to describe the relationship between two consecutive frames of joints. Based on this D-H model, forward kinematics is calculated efficiently. To describe the relationship between joint angular velocities in the joint space and the end effector´s velocities in Cartesian space, Jacobian matrix for PA10-7C robot arm is derived. By Jacobian matrix, inverse kinematics approach is obtained in the paper. VRML-based model of PA10-7C is built in the paper for the simulation. Finally, simulation results are discussed and the paper is concluded.
Keywords :
Jacobian matrices; control engineering computing; end effectors; robot kinematics; virtual reality languages; 3D kinematic simulation; Cartesian space; Denavit-Hartenberg convention; Jacobian matrix; PA10-7C robot arm; VRML; end effector; flexible simulation; graphical simulation; interactive simulation; inverse kinematics; joint angular velocities; Analytical models; Computational modeling; Computer simulation; Jacobian matrices; Kinematics; Layout; Mathematical model; Orbital robotics; Robotics and automation; Service robots; D-H convention; Jacobian matrix; Kinematic control; VRML; inverse kinematics; kinematics;
Conference_Titel :
Automation and Logistics, 2007 IEEE International Conference on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-1531-1
DOI :
10.1109/ICAL.2007.4338637