5-DOF manipulator simulation based on MATLAB-Simulink methodology

Author

Velarde-Sanchez, J.A. ; Rodriguez-Gutierrez, S.A. ; Garcia-Valdovinos, L.G. ; Pedraza-Ortega, C.J.

Author_Institution

CIDIT-Fac. de Inf., Univ. Autonoma de Queretaro, Queretaro, Mexico

fYear

2010

fDate

22-24 Feb. 2010

Firstpage

295

Lastpage

300

Abstract

This work presents a novel simulation methodology applied to a 5-DOF manipulator. The work includes mathematical modeling of the direct, inverse and differential kinematics as well as the dynamics of the manipulator. The method implements the path following in the 3D space and uses the Matlab-Simulink approach. Several paths were tested to verify the method. This methodology can be used with different robots to test the behavior and control laws.

Keywords

digital simulation; manipulator dynamics; manipulator kinematics; mathematics computing; mechanical engineering computing; path planning; 3D space; 5-DOF manipulator simulation; MATLAB Simulink methodology; differential kinematics; direct kinematics; inverse kinematics; manipulator dynamics; path following; Computer languages; Equations; Gravity; Manipulator dynamics; Mathematical model; Orbital robotics; Robot kinematics; Robot programming; Service robots; Testing; Manipulator; Simulation methodology; Simulink;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronics, Communications and Computer (CONIELECOMP), 2010 20th International Conference on

Conference_Location

Cholula

Print_ISBN

978-1-4244-5352-8

Electronic_ISBN

978-1-4244-5353-5

Type

conf

DOI

10.1109/CONIELECOMP.2010.5440751

Filename

5440751