Explicit kinematic model of the Mitsubishi RV-M1 robot arm

Author

Benbelkacem, Y. ; Mohd-Mokhtar, Rosmiwati

Author_Institution

Sch. of Electr. & Electron. Eng., Univ. of Sci. Malaysia, Nibong Tebal, Malaysia

fYear

2012

fDate

26-29 Nov. 2012

Firstpage

404

Lastpage

409

Abstract

A complete kinematic model of the 5 DOF-Mitsubishi RV-M1 manipulator is presented in this paper. The forward kinematic model is based on the Modified Denavit-Hartenberg notation, and the inverse one is derived in closed form by fixing the orientation of the tool. A graphical interface is developed using MATHEMATICA software to illustrate the forward and inverse kinematics, allowing student or researcher to have hands-on of virtual graphical model that fully describe both the robot´s geometry and the robot´s motion in its workspace before to tackle any real task.

Keywords

control engineering computing; geometry; graphical user interfaces; manipulator kinematics; motion control; virtual reality; 5 DOF-Mitsubishi RV-M1 manipulator; MATHEMATICA software; Mitsubishi RV-M1 robot arm; explicit kinematic model; forward kinematic model; graphical interface; inverse kinematics; modified Denavit-Hartenberg notation; robot geometry; robot motion; virtual graphical model; Jacobian matrices; Joints; Kinematics; Manipulators; Mathematical model; Robot kinematics; 5DOF manipulator; Forward Kinematics; Inverse Kinematics; Jacobian; Singularity; Velocity Kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Information Sciences (ICCAIS), 2012 International Conference on

Conference_Location

Ho Chi Minh City

Print_ISBN

978-1-4673-0812-0

Type

conf

DOI

10.1109/ICCAIS.2012.6466627

Filename

6466627