Computing The Kinematics Study of a 6 DOF Industrial Manipulator Prototype By Matlab

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dc.contributor.authorSaadah, Alaa
dc.contributor.authorAbdulkareem, Husam
dc.contributor.authorHusi, Géza
dc.date.accessioned2021-06-30T06:23:17Z
dc.date.available2021-06-30T06:23:17Z
dc.date.issued2024-03-20
dc.description.abstractSince the mechanical parts in the robot are designed to do the movement, studying and analyzing the motion considered a primary issue that should be taken into consider when studying and designing the robot. In this research 6-DOF sample of the industrial manipulator based on ABB IRB 4400 model had been studied. The mathematical model of manipulator is established by DH (Denavait Hartenberg) method. The forward kinematics was done using DH Parameters in order to get the final transformation matrix. The inverse kinematics was done using geometrical and analytical methods in order to get the end effector final position and direction by calculate Euler angles values. Finally, the forward and inverse kinematics equations were computing by MATLAB to get angles, end effector, position, direction and Euler angles values. The kinematics study and the arm movement’s equations were compered with the practical measurements to make sure it fulfills the desired purpose.     en
dc.formatapplication/pdf
dc.identifier.citationRecent Innovations in Mechatronics, Vol. 7 No. 1 (2020) , 1-5.
dc.identifier.doihttps://doi.org/10.17667/riim.2020.1/8.
dc.identifier.eissn2064-9622
dc.identifier.issue1
dc.identifier.jtitleRecent Innovations in Mechatronics
dc.identifier.urihttps://hdl.handle.net/2437/319807en
dc.identifier.volume7
dc.languageen
dc.relationhttps://ojs.lib.unideb.hu/rIim/article/view/6190
dc.rights.accessOpen Access
dc.rights.ownerby the authors
dc.subject6-DOF Industrial manipulatoren
dc.subjectForward Kinematicsen
dc.subjectInverse Kinematicsen
dc.titleComputing The Kinematics Study of a 6 DOF Industrial Manipulator Prototype By Matlaben
dc.typefolyóiratcikkhu
dc.typearticleen
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