5-DOF manipulator simulation based on MATLAB-Simulink methodology

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-Simuli...

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Bibliographic Details
Published in2010 20th International Conference on Electronics Communications and Computers (CONIELECOMP) pp. 295 - 300
Main Authors Velarde-Sanchez, J.A., Rodriguez-Gutierrez, S.A., Garcia-Valdovinos, L.G., Pedraza-Ortega, J.C.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.02.2010
Subjects
Computer languages
Equations
Gravity
Manipulator
Manipulator dynamics
Mathematical model
Orbital robotics
Robot kinematics
Robot programming
Service robots
Simulation methodology
Simulink
Testing
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Summary: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.
ISBN:9781424453528
1424453526
DOI:10.1109/CONIELECOMP.2010.5440751