Forward Kinematics Solution For 5 Degree Of Freedom Of Rhino XR-3 Robot
This project develops an algorithm for solving the forward kinematics equation. The forward kinematics equation is solving to determine the gripper position and orientation by using suitable programming software for 5 Degree of Freedom (DOF) of Rhlno XR-3 robot. The process involves the control of...
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| Format: | Monograph |
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UTeM
2009
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| Online Access: | http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=fullDisplayRetriever.jsp&szMaterialNo=0000052503 http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=fullDisplayRetriever.jsp&szMaterialNo=0000052503 http://eprints.utem.edu.my/499/1/Forward_Kinematics_Solution_For_5_Degree_of_Freedom_of_Rhino_XR-3_Robot_TJ211.412.M56_2009_Mohd_Norhisham_Bin_Che_Soh_-_24_pages.pdf http://eprints.utem.edu.my/499/2/Forward_Kinematics_Solution_For_5_Degree_of_Freedom_of_Rhino_XR-3_Robot_TJ211.412.M56_2009_Mohd_Norhisham_Bin_Che_Soh.pdf |
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| Summary: | This project develops an algorithm for solving the forward kinematics equation. The forward kinematics equation is solving to determine the gripper position and orientation by using suitable programming software for 5 Degree of
Freedom (DOF) of Rhlno XR-3 robot. The process involves the control of parameter known as angles (B) of rotation linkages of the three main axes of the robot. This parameter is determined by user before the forward kinematics equation is solved. Its
forward kinematics problem will be solved by using conventional method and
simulation. Result from the conventional method is used as guidelines for developing
an algorithm to ensure the algorithm is correct and can be use for solving the forward
kinematics equation. The graphical user interface will be design where user needs to
setting up the value of control parameter and then solve the forward kinematics
equation. The correct output of interface prove that this command can be used for
solves forward kinematics equation. Overall, this project will describe the technique,
calculation, method and algorithm on how the forward kinematics is solved. |
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