On Robot Modelling using Maple
2007 (English)Report (Other academic)
This report studies robot modelling by means of the computer algebra tool Maple. First coordinate systems are described, and the more general way with transformation matrices is chosen in the further work. The position kinematics of the robot are then described by homogeneous transformations. The Denavit-Hartenberg representation is used, which is a systematic way to develop the forward kinematics for rigid robots. The velocity kinematics is then described by the Jacobian. The industrial robot IRB1400 from ABB Robotics is used as an example of the theory and to show the use of the procedures developed in the Maple programming language.
Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2007. , 56 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2723
Maple, industrial robot, homogeneous transformation, Denavit-Hartenberg representation, forward kinematics, Jabcobian
IdentifiersURN: urn:nbn:se:liu:diva-56134ISRN: LiTH-ISY-R-2723OAI: oai:DiVA.org:liu-56134DiVA: diva2:316965