Open AccessKinematics Simulation of Welding Manipulator Based on V-REPPRO EDU
Author(s) -
Muslikhin Muslikhin,
Dessy Irmawati,
Fatchul Arifin,
Aris Nasuha,
Nur Hasanah
Publication year - 2019
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1413/1/012002
Subject(s) - kinematics , kinematics equations , inverse kinematics , context (archaeology) , parallel manipulator , welding , computer science , forward kinematics , manipulator (device) , robot kinematics , control theory (sociology) , control engineering , robot , engineering , mechanical engineering , artificial intelligence , geology , physics , classical mechanics , mobile robot , control (management) , paleontology
As the primary tool in modern industrial welding, 6 DOF manipulator robots can weld in all positions. In this context, Danevit-Hartenberg parameters were developed to simplify kinematics equations for manipulator equations. Inverse kinematics is obtained based on the algebraic method. Simulation of kinematics manipulators based on V-REP PRO EDU is present. Kinematics simulations produce processing motion and relevant kinematics curves. The simulation results and kinematic equations of robotic manipulators are compared, showing that valid kinematic equations and weld trajectories can be passed by the end-effector successfully.