5-DOF manipulator simulation based on MATLAB-Simulink methodology

• Published in: 2010 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
• Language: English
• 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

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...