ABSTRACT
Robots are used at various places for different applications and hence the subjects related to robotics find their place in the courses of Mechanical and Electrical engineering disciplines. The concepts of robotics are typically difficult to understand from images and figures, thus several software to aid the learning of these concepts have been developed. RoboAnalyzer is one such software developed by the authors to perform kinematic and dynamic analyses of serial robots. It is an ongoing activity and in this paper, the modules of "Visualization of DH Parameters and Transformations", "3D CAD Model Importer" and "Inverse Kinematics" are explained and illustrated. RoboAnalyzer software can be downloaded for free from http://www.roboanalyzer.com and can be used almost instantly.
- Denavit, J and Hartenberg, R. S. 1955. A Kinematic Notation for Lower-pair Mechanisms Based on Matrices. ASME Journal of Applied Mechanisms 22, 2, 215--221.Google Scholar
- Rajeevlochana, C. G. and S. K. Saha, 2011. RoboAnalyzer: 3D model based robotic learning software. In Proceedings of the International Conference on Multi Body Dynamics (Vijayawada, India, Feb 12-14, 2011), 3--13.Google Scholar
- Jaramillo-Botero, A., Matta-Gomez, A., Correa-Caicedo, J. F. and Perea-Castro, W. 2006. ROBOMOSP, IEEE Magazine on Robotics and Automation 13, 4 (Dec. 2006), 62--73.Google ScholarCross Ref
- Khan, W., Zhuang, H. and Angeles, J. 2007. Robot Visualization System for Windows (RVS4W). Centre for Intelligent Machines (CIM), User's Manual, Dept. Mech. Eng., McGill University, Montreal, Canada.Google Scholar
- RokiSim - http://www.parallemic.org/RoKiSim.html.Google Scholar
- RobotAssist - http://www.kinematics.com/products/robotassist.php.Google Scholar
- Rajeevlochana, C. G., Jain, A., Shah, S. V. and Saha, S. K. 2011. Recursive Robot Dynamics in RoboAnalyzer. In Proceedings of the 15th National Conference on Machines and Mechanisms (Chennai, India, Nov. 30-Dec. 2, 2011), 482--490.Google Scholar
- Bahuguna, J. 2012, Kinematics of Industrial Robots, M. Tech Project Report, Dept. Mech. Eng, Indian Inst. of Tech. Delhi, India.Google Scholar
- Saha, S. K. 2008. Introduction to Robotics, Tata McGraw Hill, New Delhi, India.Google Scholar
- Angles, J. 1997, Fundamentals of Robotic Mechanical Systems. Theory, Method and Algorithms, Springer. Google ScholarDigital Library
- Tao Framework, http://www.sourceforge.net/projects/taoframework.Google Scholar
- ZedGraph Library, http://www.sourceforge.net/projects/zedgraph.Google Scholar
- Rajeevlochana, C. G., Saha, S. K. and Kumar, S. 2012, Automatic Extraction of DH Parameters of Serial Manipulators using Line Geometry. In Proceedings of the 2nd Joint Int. Conf. on Multibody System Dynamics (Stuttgart, Germany, May 31-June 3, 2012).Google Scholar
Index Terms
- Teaching and Learning of Robot Kinematics Using RoboAnalyzer Software
Recommendations
RoboAnalyzer: Robot Visualization Software for Robot Technicians
AIR '17: Proceedings of the 2017 3rd International Conference on Advances in RoboticsRobots have become an irreplaceable part of various industries which has led to an increasing demand for well-trained robot operators or technicians to operate and maintain these robots. The concepts of robotics are difficult to understand from pure ...
Robot manipulation through inverse kinematics
AIR '15: Proceedings of the 2015 Conference on Advances In RoboticsInverse kinematics of a robot is very essential to find the joint variables that satisfy the desired pose of the robot during its manipulation. This is used in controlling the robot position, animation of the robot, etc. In this paper, step-by-step ...
Kinematic analysis of MTAB robots and its integration with RoboAnalyzer software
AIR '15: Proceedings of the 2015 Conference on Advances In RoboticsRobotics has emerged as a research interest to find its place in various applications such as industries, automobile, space robots, health care, etc. The thrust in robotics research has resulted in increasing number of courses being introduced in the ...
Comments