Mathematic Model and Kinematic Analysis for Robotic Arm

Dr. Surachai Panich

Mathematic Model and Kinematic Analysis for Robotic Arm

Dr. Surachai Panich * §

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§ Srinakharinwirot University

Mathematic Model and Kinematic Analysis for Robotic Arm

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Abstract

In this paper the mathematic model and kinematics of robotic arm are mainly analyzed. The robotic arm uses the Denavit Hartenberg (D-H) method to determine the parameters with transformation matrices. The direct kinematic analysis was conducted to determine the parameter of robotic arm by using Denavit Hartenberg (D-H) method. The calculated parameters of robotic arm were implemented by direct kinematics and compared with the measured parameter by rotary encoder to determine the accuracy of each parameter.

References

5 Cites in Article

Reference Format

1. Guo-Shing Huang,Chiou-Kou Tung,Hsiung-Cheng Lin,Shun-Hui Hsiao (2011). Inverse kinematics analysis trajectory planning for a robotic arm. 2011 8th Asian Control Conference (ASCC), 965-970.
2. Jie-Tong Zou,Des-Hun Tu (2011). The development of six D.O.F. robotic arm for intelligent robot. 8th Asian Control Conference (ASCC), 976-981.
3. Takashi Yoshimi,Yuu Ohnuki,Kazutaka Yaguchi,Yoshinobu Ando,Makoto Mizukawa (2013). Trajectory generation for beverage can opening operation by single and dual robot arm. IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society, 4282-4287.
4. Changjun Xia,Xiuxia Yang,Wenjin Gu (2012). A kinematic equation and trajectory planning of flexible arm space robot. Third International Conference on Intelligent Control and Information Processing (ICICIP), 417-421.
5. Phillip John,Mckerrow (1995). introduction to Robotics. introduction to Robotics

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Funding

No external funding was declared for this work.

Conflict of Interest

The authors declare no conflict of interest.

Ethical Approval

No ethics committee approval was required for this article type.

Data Availability

Not applicable for this article.

How to Cite This Article

Dr. Surachai Panich. 2016. "Mathematic Model and Kinematic Analysis for Robotic Arm". Global Journal of Research in Engineering - J: General Engineering GJRE-J Volume 15 (GJRE Volume 15 Issue J6).

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GJRE Volume 15 Issue J6

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Journal Specifications

Crossref Journal DOI 10.17406/gjre

Print ISSN 0975-5861

e-ISSN 2249-4596

Keywords

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Classification

GJRE-J Classification FOR Code: 091599

Submission ReceivedFebruary 12, 2015
Peer Review Double Blind
Handling Editor
Accepted March 2, 2015
Published March 15, 2015

Version of record

v1.2

Issue date

January 17, 2016

Language

English

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Article Matrices

Total Score: 86

Country: Thailand

Subject: Global Journal of Research in Engineering - J: General Engineering

Authors: Dr. Surachai Panich (PhD/Dr. count: 1)

View Count (all-time): 451

Total Views (Real + Logic): 1532

Total Downloads (simulated): 119

Publish Date: 2015 03, Sun

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Total Views: 1.5K

Total Downloads: 119

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