A Simulation Tool for Kinematics Analysis of a Serial Robot

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dc.contributor.authorKütük, M. Erkan
dc.contributor.authorDülger, L. Canan
dc.contributor.authorDaş, M. Taylan
dc.date.accessioned2021-01-14T18:11:07Z
dc.date.available2021-01-14T18:11:07Z
dc.date.issued2020
dc.departmentKKÜ
dc.description2nd International Conference on Design, Simulation, Manufacturing - The Innovation Exchange (DSMIE)
dc.description.abstractRobot programming is a very significant task in the field of robotics. Off-line programming (OLP) is a method performed before robot manipulation. It is the manual editing of the robot code using computer software to simulate the real robotic scenarios. Task sequence planning, short-term production, flexibility during operation and expecting real behaviour of the robots are some of the reasons that make the users prefer OLP. Operations can be visualized in many processes such as welding, cutting, even medical applications. In this study, off-line models are offered including the forward and inverse kinematics of a six Degree-Of-Freedom (DOF) serial robot manipulator (Denso VP-6242G). Robotic Toolbox combined with GUI Development Environment in Matlab (R) is used for the forward kinematics solution. A Matlab (R) Simulink model with Simmechanics blocks is used in the inverse kinematic analysis. Visualization is enriched by 3D Solidworks (R) models of the robot parts. Basic motion examples that can be used in many areas are presented.en_US
dc.description.sponsorshipSumy State Univ, Lutsk Natl Tech Univ, Int Assoc Technol Dev & Innovaten_US
dc.identifier.citationclosedAccessen_US
dc.identifier.doi10.1007/978-3-030-22365-6_59
dc.identifier.endpage601en_US
dc.identifier.isbn978-3-030-22365-6
dc.identifier.issn2195-4356
dc.identifier.issn2195-4364
dc.identifier.scopus2-s2.0-85067035989
dc.identifier.scopusqualityQ4
dc.identifier.startpage592en_US
dc.identifier.urihttps://doi.org/10.1007/978-3-030-22365-6_59
dc.identifier.urihttps://hdl.handle.net/20.500.12587/12885
dc.identifier.wosWOS:000515081800059
dc.identifier.wosqualityN/A
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherSPRINGER INTERNATIONAL PUBLISHING AGen_US
dc.relation.ispartofADVANCES IN DESIGN, SIMULATION AND MANUFACTURING II
dc.relation.ispartofseriesLecture Notes in Mechanical Engineering
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectOff-line programming (OLP)en_US
dc.subjectDenso VP-6242Gen_US
dc.subjectForward and inverse kinematicsen_US
dc.subjectRobotic toolboxen_US
dc.titleA Simulation Tool for Kinematics Analysis of a Serial Roboten_US
dc.typeConference Object

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