ANALYTICAL APPROACH FOR SOLUTION OF KINEMATICS OF A SERIAL MANIPULATOR; SIMULATION AND PRACTICAL IMPLEMENTATION

Published 30 September 2020 •  vol 13  •  no 9  • 


Authors:

 

Afaq Ahmed Abbasi, Institute of Space Technology, Islamabad 41000, Pakistan
Muqeet Ahmad, Institute of Space Technology, Islamabad 41000, Pakistan
Hayat Muhammad Khan, Institute of Space Technology, Islamabad 41000, Pakistan
Ehtisham ul Hasan, Air University, Islamabad 41000, Pakistan
Amna Khan, Air University, Islamabad 41000, Pakistan

Abstract:

 

Manipulator control and trajectory planning is one of the major research areas in robotics, with modelling of the Manipulator being the initial step. This article presents the forward and inverse Kinematic analysis of five degrees of freedom (DOF) serial manipulator, with a cross validation method using Matlab and MapleSim. The manipulator consists of one DOF base rotation, three DOF rigid links with revolute joints and one DOF end-effector. Forward kinematics equations are modelled using transformation method. The resultant equations are verified by developing an unprecedented method using Matlab and MapleSim, separately. Forward kinematic equations obtained from transformation method are encoded in Matlab and the dexterity of the robot is simulated in MapleSim at the same time. Inverse kinematics is implemented on the actual hardware using serial transfer from Matlab-Arduino-hardware. The end effector complies to the kinematics calculated in Matlab as well as with the MapleSim for the same value of position for respective angle; thus verifying the kinematic equations. The same strategy can be employed to any serial manipulators of ‘n’ degree of freedom, to verify its kinematics.

Keywords:

 

Degree of Freedom (DOF), Forward Kinematics, Inverse Kinematics, Matlab, MapleSim, Transformation Method

References:

 

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Citations:

 

APA:
Abbasi, A. A., Ahmad, M., Khan, H. M., Hasan, E., & Khan, A (2020). Analytical Approach for Solution of Kinematics of a Serial Manipulator; Simulation and Practical Implementation. International Journal of Control and Automation (IJCA), ISSN: 2005-4297 (Print); 2207-6387 (Online), NADIA, 13(7), 23-28. doi: 10.33832/ijca.2020.13.9.03.

MLA:
Abbasi, A. A., et al. “Analytical Approach for Solution of Kinematics of a Serial Manipulator; Simulation and Practical Implementation.” International Journal of Control and Automation, ISSN: 2005-4297 (Print); 2207-6387 (Online), NADIA, vol. 13, no. 9, 2020, pp. 23-28. IJCA, http://article.nadiapub.com/IJCA/vol13_no9/3.html.

IEEE:
[1] A. A. Abbasi, M. Ahmad, H. M. Khan, E. ul Hasan and A. Khan, "Analytical Approach for Solution of Kinematics of a Serial Manipulator; Simulation and Practical Implementation." International Journal of Control and Automation (IJCA), ISSN: 2005-4297 (Print); 2207-6387 (Online), NADIA, vol. 13, no. 9, pp. 23-28, September 2020.