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arXiv · 1707.04820

Development of Direct Kinematics and Workspace Representation for Smokie Robot Manipulator & the Barret WAM

Reza Yazdanpanah Abdolmalaki
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Abstract

This paper discusses modelling two 6 DOF arm robots. The first step of modelling a robot is establishing its Denavit-Hartenberg parameters. It requires assigning proper coordinates for each link and finding their exact dimensions. In this project we will develop the direct kinematics and workspace representations for two manipulators: the Smokie Robot and the Barrett WAM. After finding the D-H parameters and creating Transformation Matrices,MATLAB programming is used to represent their workspaces.

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Reza Yazdanpanah Abdolmalaki. 2017-07-16. Development of Direct Kinematics and Workspace Representation for Smokie Robot Manipulator & the Barret WAM. https://arxiv.org/abs/1707.04820

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