KINEMATIC ANALYSIS OF 3 D.O.F OF SERIAL ROBOT FOR INDUSTRIAL APPLICATIONS
Journal Title: INTERNATIONAL JOURNAL OF ENGINEERING TRENDS AND TECHNOLOGY - Year 2013, Vol 4, Issue 4
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 been 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.
Authors and Affiliations
Annamareddy Srikanth1 M. Sravanth2 V. Sreechand3 K. Kishore Kumar
Keywords
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