Baki Koyuncu and Mehmet Güzel
Software Development for the Kinematic Analysis of a Lynx 6 Robot Arm
1575 - 1580
2007
1
6
International Journal of Computer and Information Engineering
https://publications.waset.org/pdf/10518
https://publications.waset.org/vol/6
World Academy of Science, Engineering and Technology
The kinematics of manipulators is a central problem in the automatic control of robot manipulators. Theoretical background for the analysis of the 5 Dof Lynx6 educational Robot Arm kinematics is presented in this paper. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. The DenavitHarbenterg (DH) model of representation is used to model robot links and joints in this study. Both forward and inverse kinematics solutions for this educational manipulator are presented, An effective method is suggested to decrease multiple solutions in inverse kinematics. A visual software package, named MSG, is also developed for testing Motional Characteristics of the Lynx6 Robot arm. The kinematics solutions of the software package were found to be identical with the robot arms physical motional behaviors.
Open Science Index 6, 2007