DIFFERENTIAL MOTION ANALYSIS OF LAB-VOLT R5150 ROBOT SYSTEM
Keywords:
Lab-Volt R5150 robot arm, D-H parameters, Forward Kinematics, Inverse Kinematics, JacobiansAbstract
Differential motion is a way to track and explain motion for different points of the robot. It can be used to study movement of robot mechanisms through a Small period of time. In this paper, forward kinematics modeling and differential motion analysis of (5 DOF) Lab-Volt R5150 robotic manipulator are presented. The standard Denavit- Hartenberg (DH) model is applied to build the mathematical modeling to determine and simulate the position and orientation of the end effector for the 5DOF Lab-Volt R5150 robot manipulator. This position will be used to calculate the required joint variable. Differential motion uses Jacobian method to calculate and analyze the endeffector velocity and its relation to the joint variables velocities. A diagram between (velocities - time) has been presented and drawn for several cases. Important conclusions are reported from the values obtained.
