Study on Trajectory Motion and Computational Analysis of Robot Manipulator

Authors

  • Siti Nur Hanisah Umar School of Mechanical Engineering, USM, 14300 Nibong Tebal, Penang, Malaysia
  • Elmi Abu Bakar School of Aerospace Engineering, USM, 14300 Nibong Tebal, Penang, Malaysia

DOI:

https://doi.org/10.11113/jt.v67.2206

Keywords:

Computational analysis, computational model, dynamic model, simulink model, position angle, robot manipulator, trajectory motion, velocity angle

Abstract

The relation of arm and forearm for arm pitching a ball and bowling game, relation of rotating arm and the connecting rod for crankshaft and any other mechanical system will determine the performance of the system. To obtain the best performance of the system, the study of the dynamic mechanism of the system is essential. In order to study and analyze the dynamic interaction of each link for various applications, robot links manipulator is used as a simplified model for dynamic analysis. The dynamic mathematical equation of robot manipulator is derived by using the Lagrange equation. The elevation angle and angular velocity over time of link one and two is simulated using computerized algorithm. The trajectory motion of both links is illustrated and the relation between both links is determined. The results obtained are then compared with the SimMechanics model.

 

References

U. Mettin, A. S. Shiriaev, L. B. Freidovich, and M. Sampei. 2010. Optimal Ball Pitching with an Underactuated Model of a Human Arm. IEEE International Conference on Robotics and Automation. 5009–5014. http://dx.doi.org/10.1109/ROBOT.2010.5509879.

W. F. B. W. Tarmizi, M. A. Adly, W. Amirfaiz, I. Elamvazuthi, and M. Begam. 2010. Modeling and Simulation of a Multi-Fingered Robot Hand. International Conference on Intelligent and Advanced Systems. 1–4. http://dx.doi.org/10.1109/ICARCV.2010.5707292.

P. Frankovský, D. Hroncová, I. Delyová, and P. Hudák. 2012. Inverse and Forward Dynamic Analysis of Two Link Manipulator. Procedia Engineering. 48: 158–163. http://dx.doi.org/10.1016/j.proeng.2012.09.500.

Y. Shaoqiang, L. Zhong, and L. Xingshan. 2008. Modeling and Simulation of Robot Based on Matlab/SimMechanics. 27th Chinese Control Conference. 161–165. http://dx.doi.org/10.1109/CHICC.2008.4604913.

L. Žlajpah. 2008. Simulation in Robotics. Mathematics and Computers in Simulation. 79(4): 879–897.

L. Zheng-wen, Z. Guo-liang, Z. Wei-ping, and J. Bin. 2011. A Simulation Platform Design of Humanoid Robot Based on SimMechanics and VRML. Procedia Engineering. 15: 215–219. http://dx.doi.org/10.1016/j.proeng.2011.08.043.

L. Zhang. 2009. Mechanism Design and Dynamics Study of Meal-Assistance Robot. International Conference on Mechatronics and Automation. 1811–1815. http://dx.doi.org/10.1109/ICMA.2009.5246039.

Y. Yavin and C. Frangos. 2002. Modelling and Control of a Walking Four Link Robot. Mathematical and Computer Modelling. 7177(01).

Y. Yavin and C. Frangos. 2001. Modelling of the Planar Motion of a Rolling Four Links Robot. Mathematical and Computer Modelling. 8957177(01). http://dx.doi.org/10.1016/S0895-7177(01)00077-2.

S. B. Niku. 2010. Introduction to Robotics: Analysis, Control and Application. 2nd Ed. N.J: Wiley. 466.

M. Das and L. C. Dülger. 2005. Mathematical Modelling, Simulation and Experimental Verification of a Scara Robot. Simulation Modelling Practice and Theory. 13: 257–271. http://dx.doi.org/10.1016/j.simpat.2004.11.004.

L. Wang, Z. Deng, L. Zhang, and Q. Meng. 2006. Analysis of Assistant Robotic Leg on MATLAB. International Conference on Mechatronics and Automation. 1092–1096. 10.1109/ICMA.2006.257777.

P. R. Culmer, a E. Jackson, S. G. Makower, J. a Cozens, M. C. Levesley, M. Mon-Williams, and B. Bhakta. 2011. A Novel Robotic System for Quantifying Arm Kinematics and Kinetics: Description and Evaluation in Therapist-Assisted Passive Arm Movements Post-Stroke. Journal of Neuroscience Methods. 197(2): 259–69. http://dx.doi.org/10.1016%2Fj.jneumeth.2011.03.004.

Downloads

Published

2014-03-03

Issue

Section

Science and Engineering

How to Cite

Study on Trajectory Motion and Computational Analysis of Robot Manipulator. (2014). Jurnal Teknologi (Sciences & Engineering), 67(1). https://doi.org/10.11113/jt.v67.2206