Optimization for Robot Modelling with MATLAB by Hazim Nasir Ghafil & Károly Jármai

Author:Hazim Nasir Ghafil & Károly Jármai
Language: eng
Format: epub
ISBN: 9783030404109
Publisher: Springer International Publishing

(4.9)

Example 4.2

(LabVolt 5150 manipulator) Figure 4.8 shows LabVolt 5150 manipulator (Ghafil and Jármai 2019), which is a 5DOF, four-link educational robot. The joint limits of the robot actuators, as well as link specifications, are given in Fig. 4.9. To start modelling the forward kinematics equations of this robot, zero-configuration was chosen to be as in Fig. 4.10. The same way as Example 4.1 has been followed to assign six-coordinate frames starting from the base point to the end-effector central point. Note that frame 3 and frame 4 coincide at the same point. Table 4.2 reveals the spatial parameters of the four links of the manipulator. Referring to Fig. 4.10, we have substituted the unknowns in Table 4.2 as follows:

Fig. 4.8LabVolt 5150 manipulator

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