ABSTRACT
Robotics has emerged as a research interest to find its place in various applications such as industries, automobile, space robots, health care, etc. The thrust in robotics research has resulted in increasing number of courses being introduced in the engineering curriculum. Fundamental concepts in robot mechanics are difficult to visualize using text books alone and hence, require either a physical robot or a simulation software to demonstrate the same. Effective robotics education can be achieved using serial robots and a visualization software. In this paper, affordable serial chain robots developed by MTAB are presented along with its integration with a simulation software named RoboAnalyzer. The forward and inverse kinematic analyses of the MTAB Mini and Aristo robots, and the implementation of the same in RoboAnalyzer software is also presented for comprehensive learning of the robotics topics.
- Miller, D., Nourbaksh, I., R., and Siegwart, R., 2008. Robots for education. Springer Handbook of Robotics, Springer Berlin-Heidelberg, 1288--1301.Google Scholar
- MTAB Robotics, 2015. http://www.mtabindia.com/robotics/index.htm as accessed on 31st January 2015.Google Scholar
- Rajeevlochana, C. G., and Saha, S. K., 2011. RoboAnalyzer: 3D Model Based Robotic Learning Software. International Conference on Multi Body Dynamics, 3--13.Google Scholar
- Bahuguna, J., Chittawadigi, R. G., and Saha, S. K., 2013. Teaching and Learning of Robot Kinematics Using RoboAnalyzer Software. International Conference on Advances in Robotics. Google ScholarDigital Library
- Sadanand, R., Chittawadigi, R. G., and Saha, S. K., 2013. Virtual Robot Simulation in RoboAnalyzer. 1st International and 16th National Conference on Machines and Mechanisms.Google Scholar
- Denavit, J., and Hartenberg, R. S., 1955. A Kinematic Notation for Lower pair mechanisms based on Matrices. ASME Journal of Applied Mechanisms, 22(2), 215--221.Google Scholar
- Saha, S. K., 2014. Introduction to Robotics, 2nd ed., McGraw-Hill Higher Education, New Delhi.Google Scholar
- Xu, D., Acosta, C. A., Gan, J. Q., and Hu, H., 2005. An Analysis of the Inverse Kinematics for a 5-DOF Manipulator, International Journal of Automation and Computing, 114--124.Google Scholar
- Chittawaidi, R. G., 2013. Unified Framework for Geometric Modeling, Animation and Collision Detection of Serial Robots. M. S.(Research) Thesis, Department of Mechanical Engineering, Indian Institute of Technology Delhi, New Delhi, India.Google Scholar
- Rajeevlochana, C. G., Saha, S. K., and Kumar, S., 2012. Automatic Extraction of DH Parameters of Serial Manipulators using Line Geometry, The 2nd Joint International Conference on Multibody System Dynamics (IMSD).Google Scholar
- Angeles, J., 2002. Fundamentals of Robotics Mechanical Systems, vol. 2. Springer, New York. Google ScholarDigital Library
Index Terms
- Kinematic analysis of MTAB robots and its integration with RoboAnalyzer software
Recommendations
RoboAnalyzer: Robot Visualization Software for Robot Technicians
AIR '17: Proceedings of the 2017 3rd International Conference on Advances in RoboticsRobots have become an irreplaceable part of various industries which has led to an increasing demand for well-trained robot operators or technicians to operate and maintain these robots. The concepts of robotics are difficult to understand from pure ...
Teaching and Learning of Robot Kinematics Using RoboAnalyzer Software
AIR '13: Proceedings of Conference on Advances In RoboticsRobots are used at various places for different applications and hence the subjects related to robotics find their place in the courses of Mechanical and Electrical engineering disciplines. The concepts of robotics are typically difficult to understand ...
Virtual robots module: an effective visualization tool for robotics toolbox
AIR '15: Proceedings of the 2015 Conference on Advances In RoboticsAn introductory level robotics course mainly comprises the topics like geometry, kinematics, and dynamics of serial-chain robots. The description of the robot geometry using the Denavit-Hartenberg parameters and the kinematic and dynamic analyses ...
Comments