5-DOF manipulator simulation based on MATLAB-Simulink methodology
JA Velarde-Sanchez… - 2010 20th …, 2010 - ieeexplore.ieee.org
JA Velarde-Sanchez, SA Rodriguez-Gutierrez, LG Garcia-Valdovinos, JC Pedraza-Ortega
2010 20th International Conference on Electronics Communications …, 2010•ieeexplore.ieee.orgThis work presents a novel simulation methodology applied to a 5-DOF manipulator. The
work includes mathematical modeling of the direct, inverse and differential kinematics as
well as the dynamics of the manipulator. The method implements the path following in the
3D space and uses the Matlab-Simulink approach. Several paths were tested to verify the
method. This methodology can be used with different robots to test the behavior and control
laws.
work includes mathematical modeling of the direct, inverse and differential kinematics as
well as the dynamics of the manipulator. The method implements the path following in the
3D space and uses the Matlab-Simulink approach. Several paths were tested to verify the
method. This methodology can be used with different robots to test the behavior and control
laws.
This work presents a novel simulation methodology applied to a 5-DOF manipulator. The work includes mathematical modeling of the direct, inverse and differential kinematics as well as the dynamics of the manipulator. The method implements the path following in the 3D space and uses the Matlab-Simulink approach. Several paths were tested to verify the method. This methodology can be used with different robots to test the behavior and control laws.
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