Teaching and Learning of Robot Kinematics Using RoboAnalyzer Software

Bahuguna, Jyoti; Chittawadigi, Rajeevlochana G.; Saha, Subir Kumar

doi:10.1145/2506095.2506142

Cited by 17 publications

(8 citation statements)

References 2 publications

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“…The inverse kinematics module of RoboAnalyzer was designed to tackle the above issues. The closed‐form solutions of the inverse kinematics problem of several commonly discussed robots in a textbook were implemented.…”

Section: Teaching Robot Kinematicsmentioning

confidence: 99%

“…It is ever confusing due to the existence of several versions in the literature that are evident from many standard text books on robotics, for example, . Hence, this feature was introduced in robot teaching/learning software, RoboAnalyzer (RA), developed by the authors but never emphasized or highlighted in the earlier publications. The RA encapsulates most of the other important features which are specifically required by the students to learn the subject of robotics in a more enjoyable way.…”

Section: Introductionmentioning

confidence: 99%

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Robot kinematics made easy using RoboAnalyzer software

Othayoth

Chittawadigi

Joshi

et al. 2017

Comp Applic In Engineering

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RoboAnalyzer is a software based on 3D model of robots. It was developed primarily for teaching and learning of robot mechanics, although it is robust enough for the use by researchers as well. The motive behind the development of RoboAnalyzer was mainly to help teachers and students get started with teaching/learning of robotics using template‐based skeleton models or CAD models of serial robots. This minimizes the time otherwise spent on modeling, programming, and simulating the robots from scratch. In this article, we focus on the visualization of the Denavit Hartenberg (DH) parameters used to define a robot's architecture, and the modeling of the robot's input‐output motion characteristics, that is, robot kinematics, using them. The advantages of using RoboAnalyzer to overcome several challenges of learning robotics in a classroom environment are also discussed.

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Section: Teaching Robot Kinematicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robot kinematics made easy using RoboAnalyzer software

Othayoth

Chittawadigi

Joshi

et al. 2017

Comp Applic In Engineering

Self Cite

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“…RoboAnalyzer allows students to enter and modify all of the D–H parameters of a serial robot arm, with any changes reflected immediately in the virtual model. Thus, students can interact with the tool to change the frame assignments, the soft home position, and even the structure of the robot in real‐time.…”

Section: Existing Forward Kinematics Educational Softwarementioning

confidence: 99%

Build‐A‐Robot: Using virtual reality to visualize the Denavit–Hartenberg parameters

Flanders

Kavanagh

2015

Comp Applic In Engineering

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Virtual reality‐based educational tools allow students to visualize and interact with three‐dimensional objects in ways that cannot be achieved using traditional teaching methods. This type of educational tool is especially relevant to mechanically‐complex courses, such as those pertaining to robotics and mechatronics. Build‐A‐Robot is such a tool, created using the Virtual Reality Modeling Language (VRML), MATLAB, and the Simulink 3D Animation Toolbox, to study the forward kinematics of serial robot arms according to the Denavit–Hartenberg convention. This tool is described, and the power of using MATLAB to directly manipulate VRML geometric dimensions is explored. The potential of this tool is evidenced by student survey responses and examination results. © 2015 Wiley Periodicals, Inc. Comput Appl Eng Educ 23:846–853, 2015; View this article online at http://wileyonlinelibrary.com/journal/cae; DOI

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“…Thanks to these software platforms, researchers can evaluate the research results and develop models to save money and time and to decrease errors. In the literature, it is seen that different simulation programs, such as RoboAnalyzer [8], SolidWorks [9], MATLAB/Simulink [9], and CATIA [10], are used for robotic systems. In this study, unlike the abovementioned ones, MSC Adams, which is software used to build and simulate multi-body dynamics of platforms, will be used to model the robot manipulator.…”

Section: Introductionmentioning

confidence: 99%

Optimal Tuning of the SMC Parameters for a Two-Link Manipulator Co-Simulation Control

Ilgen

Durdu

Gülbahçe

et al. 2021

ELEKTRON ELEKTROTECH

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This paper presents the trajectory tracking control of a two-link planar robot manipulator using MSC Adams and MATLAB co-simulation which enables the innovative virtual prototyping of the systems without any mathematical expressions. Firstly, the tracking control performance of the planar manipulator is investigated using the Sliding Mode Control (SMC) controller and the Proportional Integral Derivative (PID) controller in terms of the performance analysis. As a result, the SMC demonstrates effective control performances compared to the PID controller according to the required trajectory, settling time, and end position of the system. Then, the SMC controller parameters are determined using the different optimization methods offered as open source by MATLAB/Response Optimization Toolbox and compared to each other. In the virtual co-simulation, the trajectory tracking control performance is observed to be improved by optimizing the parameters of the SMC controller using Simplex Search (SS) method. All control results are examined and presented with graphics and international error standards.

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Teaching and Learning of Robot Kinematics Using RoboAnalyzer Software

Cited by 17 publications

References 2 publications

Robot kinematics made easy using RoboAnalyzer software

Robot kinematics made easy using RoboAnalyzer software

Build‐A‐Robot: Using virtual reality to visualize the Denavit–Hartenberg parameters

Optimal Tuning of the SMC Parameters for a Two-Link Manipulator Co-Simulation Control

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