The robot toolbox for matlab

• Autorzy: Pająk G. , Pająk I.
• Języki publikacji: EN

Abstrakty

EN

In the paper, a Matlab toolbox for modeling and simulation manipulators described by Denavit-Hartenberg parameters is presented. This package can be used to realistic visualization of robot motion necessary in research, didactic process or during design of a production cell. Available functions render it possible to show a realistic model of a mechanism easily based on DH parameters only. The toolbox also provides a set of tools for creating any polyhedrons and functions to manipulate them in 3D space. Using those objects it is possible to create the appearance of the manipulator and its workspace. Functions implementing classical methods of trajectory planning in configuration space allow calculation of manipulator trajectory which can be shown as an animation. The main functions and computer examples illustrating the features of this toolbox are presented.

Słowa kluczowe

EN

robot toolbox; manipulator modeling; simulation

PL

manipulatory; symulacja

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2011
• Tom: Vol. 16, no 3
• Strony: 809--820
• Opis fizyczny: Bibliogr. 13 poz., tab., wykr.

Twórcy

autor

Pająk G.

autor

Pająk I.

• University of Zielona Góra Institute of Computer Science and Production Management Licealna 9, 65-417 Zielona Góra, POLAND,

Bibliografia

• ABB (2011): RobotStudio: of offline robot programming for ABB robots. - http://www.abb.com.
• Bingul Z., Koseeyaporn P. and Cook G.E. (2002): Windowsbased robot simulation tools. - 7th International Conference on Control, Automation, Robotics and Vision, Singapore.
• Bruyninckx H. (2001): Open robot control software: the OROCOS project. - IEEE International Conference on Robotics and Automation (ICRA), pp.2523-2528.
• Corke P.I. (1996): A robotics toolbox for MATLAB. - IEEE Robotics and Automation Magazine, vol.3, No.1, pp.24-32.
• Craig J.J. (1989): Introduction to Robotics. - Cambridge, Massachusetts: Addison Wesley.
• Fanuc (2011): ROBOGUIDE: a family of offline robot simulation software. - http://www.fanucrobotics.com.
• Fu K.S., Gonzalez R.C. and Lee C.S.G. (1987): Robotics. Control, Sensing, Vision and Intelligence. - New York: McGraw-Hill.
• Gourdeau R. (1997): Object oriented programming for robotic manipulators simulation. - IEEE Robotics and Automation Magazine, vol.4, No.3.
• Kucuk S. and Bingul Z. (2010): An off-line robot simulation toolbox. - Computer Application in Engineering Education, 18, pp.41-52, DOI 10.1002/cae.20236.
• Legnani G. (2006): SPACELIB: a software library for the Kinematic and dynamic analysis of systems of rigid bodies. - U. di Brescia. http://www.ing.unibs.it/~glegnani/
• López-Nicolás G., Romeo A. and Guerrero J.J. (2009): Project Based Learning of Robot Control and Programming. - ICEE & ICEER, pp.1-8.
• MathWorks, Inc. (2010): Matlab Programming Fundamentals - Natick, Massachusetts.
• Paul R.P. (1981): Robot Manipulators: Mathematics, Programming and Control. - Cambridge, Massachusetts: MIT Press.