Development of Direct Kinematics and Workspace Representation for Smokie Robot Manipulator & the Barret WAM
arXiv:1707.04820
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.
Submitted to: 5th International Conference on Robotics and Mechatronics (ICROM), Tehran, Iran, 2017. arXiv admin note: text overlap with arXiv:1707.04821