Trajectory Planning of a 5-DOF Serial Robot Manipulator in Joint-Space
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Dosyalar
Tarih
2017
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Gazi Univ
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
In this study, a five Degrees of Freedom (DOF) serial robot manipulator with revolute joints was designed and realized to be used for educational purposes. The robot has 150 gr payload and the motions of the joints were provided by using radio controlled R/C servo motors with smooth and vibration-free movement. In order to perform the trajectory planning in the joint space the inverse kinematics problem of the robot was solved and a third order polynomial was used for the trajectory planning. So as to present a simple and efficient way to the user for controlling the robot, a visual user interface was also designed by utilizing Visual Basic Programming Language. Finally, it was observed that the designed mechanism has been successfully used by the students for the projects involving robots.
Açıklama
WOS: 000447836400017
Anahtar Kelimeler
Manipulator, Trajectory Planning, Inverse Kinematics, Third Degree Polynomial
Kaynak
Journal Of Polytechnic-Politeknik Dergisi
WoS Q Değeri
N/A
Scopus Q Değeri
Cilt
20
Sayı
1
