Simulation on Robot Arm Manipulator Modeling using Dynamic Kinematic

Roshahliza, M. Ramli and Nurul Aqilah, Herman and Mohd Azrul Hisham, Mohd Adib (2020) Simulation on Robot Arm Manipulator Modeling using Dynamic Kinematic. In: IEEE Emerging Technology in Computing, Communication and Electronics (ETCCE 2020) , 21-22 December 2020 , United International University (UIU)-Virtual, Dhaka, Bangladesh. pp. 1-6.. ISBN 978-1-6654-1962-8

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Abstract

This simulation shows about analysis of 6 Degrees of Freedom (DOF) Of robotic arm kit generated by Robo Analyzer software. Moreover, this visual simulation consisted of mathematical elements that can animate the mechanical of motion for a robot manipulator. Nowadays, there was a lot of Unmanned Ground Vehicle (UGV) had been equipped with manipulator but the lack of stability in pick and place object was the main problem in safety issues especially in a safety application. For example, safety authorities need to lift picric acid by using less vibration and correct trajectory to avoid an explosion. Therefore, the main objective of this research is to identify the value of the position and orientation of each joint correctly because all these values were needed to be used by the controller to tackle stability issues. Besides, parameters to conduct the simulation can solve forward kinematic of the robot in the form of a 3D model which can determine the suitable motor with enough power and torque that can be used by each of the joints. This Robo Analyzer used a geometrical approach which is first, it used Denavit Hartenberg parameters to determine end effectors. Next, Robo Analyzer used forward and inverse dynamic analysis to get torque values. The simulation results clearly show the effectiveness of Robo Analyzer software to generate a simulation of the coordinate for each joint, joint parameter, and joint torque that is needed to select a suitable motor with enough torque. In other words, the significance of this research is, by using Robo Analyzer, the user can forecast the hardware simulation result before applying it in the real situation because the visual stimulation can animate the motion of the robot from the beginning until its last position.

Item Type:	Conference or Workshop Item (Paper)
Uncontrolled Keywords:	Visualization, Torque, Robot kinematics, Dynamics, Kinematics, Software, Manipulator dynamics
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division:	Faculty of Electrical and Electronic Engineering Technology Institute of Postgraduate Studies
Depositing User:	Dr. Roshahliza M Ramli
Date Deposited:	21 Apr 2022 02:33
Last Modified:	21 Apr 2022 02:33
URI:	http://umpir.ump.edu.my/id/eprint/33740
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