KINEMATIC ANALYSIS OF 3 D.O.F OF SERIAL ROBOT FOR INDUSTRIAL APPLICATIONS

Annamareddy Srikanth; M.Sravanth; V.Sreechand; K.Kishore Kumar

doi:https://doi.org/10.14445/22315381/IJETT-V4I4P300

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Volume 4 | Issue 4 | Year 2013 | Article Id. IJETT-V4I4P300 | DOI : https://doi.org/10.14445/22315381/IJETT-V4I4P300

KINEMATIC ANALYSIS OF 3 D.O.F OF SERIAL ROBOT FOR INDUSTRIAL APPLICATIONS

Annamareddy Srikanth , M.Sravanth , V.Sreechand , K.Kishore Kumar

Citation :

Annamareddy Srikanth , M.Sravanth , V.Sreechand , K.Kishore Kumar, "KINEMATIC ANALYSIS OF 3 D.O.F OF SERIAL ROBOT FOR INDUSTRIAL APPLICATIONS," International Journal of Engineering Trends and Technology (IJETT), vol. 4, no. 4, pp. 1000-1004, 2013. Crossref, https://doi.org/10.14445/22315381/IJETT-V4I4P300

Abstract

The paper address the study of motion can be divided into kinematics and dynamics . Direct kinematics refers to the calculation of end effectors position, orientation, velocity , and acceleration when the corresponding joint values are known. Inverse refers to the opposite case in which required joint values are calculated for given end effectors values, as done in path planning. Some special aspects of kinematics include handling of redundancy collision avoidance, and singularity avoidance. Once all relevant positions, velocities, and accelerations have be en calculated using kinematics, this information can be used to improve the control algorithms of a robot. Most of the industrial robots are described geometrically by their Denavit - Hartenberg (DH) parameters, in the present implementation, Based on these aspects, we aim our work towards analysis of serial robot by using DH Parameters and obtained the results for industrial applications.

Keywords

DOF, HARTENBERG, RRR, Manipulator

References

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