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INTERNATIONAL JOURNAL OF SCIENTIFIC DEVELOPMENT AND RESEARCH International Peer Reviewed & Refereed Journals, Open Access Journal ISSN Approved Journal No: 2455-2631 | Impact factor: 8.15 | ESTD Year: 2016 open access , Peer-reviewed, and Refereed Journals, Impact factor 8.15 |
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| Paper Title: | Dynamic Modeling and Simulation of Articulated Robotic Arm with MATLAB Robotics System Toolbox |
| Authors Name: | Khin Soe Nwe , Wai Phyo Maung , Ei Ei Htwe |
| Unique Id: | IJSDR1811012 |
| Published In: | Volume 3 Issue 11, November-2018 |
| Abstract: | In this paper, dynamic behavior of a six-axis robotics system for pick and place process through a defined trajectory using MATLAB Robotics System Toolbox is presented. Robotics System Toolbox™ provides algorithms and hardware connectivity for developing autonomous robotics applications for aerial and ground vehicles, manipulators, and humanoid robots. The Euler-Lagrange equations have several very important properties that can be exploited to design and analyze feedback control algorithms. Trajectory for pick place operation is generated by using this toolbox. Joint configurations for a desired end-effector pose is calculated using Rigid body tree kinematics Simulink block. Dynamic simulations are carried out on the model to examine the properties such as torque variation at the joints and trajectory of the manipulator. According to the simulation result, the manipulator has expected response similar to physical model. The maximum joint toque required about 3 Nm and the minimum joint torque required about 0.04 Nm at the articulated robotic arm. |
| Keywords: | MATLAB Robotics System Toolbox, Euler-Lagrange, trajectory, Simulink, dynamic simulation. |
| Cite Article: | "Dynamic Modeling and Simulation of Articulated Robotic Arm with MATLAB Robotics System Toolbox", International Journal of Science & Engineering Development Research (www.ijsdr.org), ISSN:2455-2631, Vol.3, Issue 11, page no.67 - 72, November-2018, Available :http://www.ijsdr.org/papers/IJSDR1811012.pdf |
| Downloads: | 000337070 |
| Publication Details: | Published Paper ID: IJSDR1811012 Registration ID:180750 Published In: Volume 3 Issue 11, November-2018 DOI (Digital Object Identifier): Page No: 67 - 72 Publisher: IJSDR | www.ijsdr.org ISSN Number: 2455-2631 |
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