An educational tool for 6‐DOF industrial robots with quaternion algebra

Çakır, Mustafa; Butun, Erhan

doi:10.1002/cae.20104

Cited by 20 publications

(11 citation statements)

References 4 publications

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“…The presented tool supports learning forward and inverse kinematic equations by rendering the arm and allowing the user to move the virtual arm's joints individually using sliders. In [16] the authors present a tool that supports learning forward and inverse kinematic equations using quaternion algebra. Quaternion numbers are like complex numbers but work in four dimensions.…”

Section: Introductionmentioning

confidence: 99%

Teaching Joint-Level Robot Programming with a New Robotics Software Tool

Gonzalez

Zalewski

2017

Robotics

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Abstract:With the rising popularity of robotics in our modern world there is an increase in the number of engineering programs that offer the basic Introduction to Robotics course. This common introductory robotics course generally covers the fundamental theory of robotics including robot kinematics, dynamics, differential movements, trajectory planning and basic computer vision algorithms commonly used in the field of robotics. Joint programming, the task of writing a program that directly controls the robot's joint motors, is an activity that involves robot kinematics, dynamics, and trajectory planning. In this paper, we introduce a new educational robotics tool developed for teaching joint programming. The tool allows the student to write a program in a modified C language that controls the movement of the arm by controlling the velocity of each joint motor. This is a very important activity in the robotics course and leads the student to gain knowledge of how to build a robotic arm controller. Sample assignments are presented for different levels of difficulty.

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Section: Introductionmentioning

confidence: 99%

Teaching Joint-Level Robot Programming with a New Robotics Software Tool

Gonzalez

Zalewski

2017

Robotics

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“…A computer-aided design package for multi-degrees of freedom (DOF) manipulators allows computing mathematical equations to follow DH kinematic convention through a graphic user interface (GUI) [4]. For the study of robotic arms of industrial use, Cakir and Butun [5] developed an educational tool to solve kinematics for robots with 6-DOF.…”

Section: Introductionmentioning

confidence: 99%

Simulation tool for teaching and learning 3D kinematics workspaces of serial robotic arms with up to 5‐DOF

Sanguino

Andújar

2012

Comp Applic In Engineering

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ABSTRACT:This work develops a new educational simulation tool whose objective is to make attractive and practical teaching and learning in kinematics of serial robotic arms. At engineering laboratories in which practices with robotic arms are necessary for understanding fundamental concepts of theory, students need to accomplish a complete study attending to different aspects related with kinematics. Its graphic user interface (GUI) is a straightforward and easy-to-follow Denavit-Hartenberg (DH)-based method which helps at engineering practices without requiring a programming knowledge. We develop, in a theoretical way, both forward (FK) and inverse kinematics (IK), which are necessary to demonstrate the study of an educational robotic arm as a practical case. The interactive simulation tool allows defining DH parameters and geometry in serial arms with up to 5 degrees of freedom (DOF). Thus, the interest of this work lies in an innovative graphic environment which teaching professionals can use to study DH convention, observe the movement of serial robotic manipulators and map both forward and joint workspaces in a visual manner. This process is much simpler that interpreting the results in an analytic way. Furthermore, the generic capabilities of this simulation tool allow comparing different robot arm configurations (considering its physical parameters and mechanical characteristics previously known), both if robotic arms are physically available or not in lab.

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“…Although the simulation tool supports GUI, it is not an educational tool. Cakir and Butun [13] developed an educational tool for 6-DOF industrial robots with quaternion algebra. This program is written for serial robots with revolute joints only and it has limited GUI operations.…”

Section: Introductionmentioning

confidence: 99%

An off‐line robot simulation toolbox

Küçük

Bingül

2009

Comp Applic In Engineering

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Robotics has gained popularity in education so many engineering schools are offering robotics courses. In this study, a novel robot toolbox, ''ROBOLAB'' is developed for the educational users to improve the understanding of robotics fundamentals through interactive real-time simulation. To understand manipulator movement in 3-D space with increasing number of joints is very difficult for engineering students; because the mathematical model between joint space and physical space becomes more complex. In order to overcome this complexity, ROBOLAB based on MATLAB Graphical User Interface (GUI) includes a library for the 16 different 6 degree of freedom (6-DOF) fundamental serial robot manipulators. The user has option to view an animation of the robot manipulators with choosing one of them or to create own GUIs based on robot project. ROBOLAB provides valuable analysis tools to students and engineering professionals in which they can compute rotation and transformation matrix, forward and inverse kinematics, and trajectory planning. Additionally, it allows user to use powerful MATLAB features such as controlling over data and formatting. In order to illustrate the features of ROBOLAB, RS cylindrical robot manipulator is given here as an example. Usage of real industrial robots in laboratory may be a very expensive way to teach robotics courses. ROBOLAB may help students to accomplish the courses and projects involving robots with minimum cost and to see 3-D space robot applications more effectively.ß2009 Wiley Periodicals, Inc. Comput Appl Eng

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An educational tool for 6‐DOF industrial robots with quaternion algebra

Cited by 20 publications

References 4 publications

Teaching Joint-Level Robot Programming with a New Robotics Software Tool

Teaching Joint-Level Robot Programming with a New Robotics Software Tool

Simulation tool for teaching and learning 3D kinematics workspaces of serial robotic arms with up to 5‐DOF

An off‐line robot simulation toolbox

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