PATH GENERATION ALGORITHM VERIFICATION OF FIVE DOF ROBOTIC ARM WITH LINEAR ACTUATOR USING MATLAB SIM-MECHANICS

摘要

Manipulators have been considered the backbone of industrial world for decades. The main aspect of industrial robotic arm is its ability to track a certain path in the 3D space. Using liner actuators to drive multi degrees of freedom robot offers high load capacity, but path generation algorithm of such robot is relatively complicated and computationally expensive. Furthermore, limitations in the joints workspace are existed. In this work, five degrees of freedom robotic arm is constructed to guaranty suitable workspace. Forward and inverse kinematic algorithms are evaluated. Moreover, path generation algorithm in Cartesian space is held using three different motion planning techniques. Sim-Mechanics toolbox under MATLAB is used to verify the introduced forward kinematics, inverse kinematics, and path generation algorithms. Thus, a comparison between the three introduced motion planning techniques is illustrated. Finally, the generated paths are experimentally applied on the case study. The work aims to illustrate the importance of simulation in the field of robotic arm algorithms verification. Manipulators; Trajectory generation; Path planning; Robot simulation. Robot kinematics