Open AccessTrajectory Circular and Zigzag paths for 3DOF Planar Robot by using Matlab
Author(s) -
Saadi Talib Habl,
Hatem Hadi Obeid,
Abdul-Kareem Jaleel
Publication year - 2021
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/1094/1/012041
Subject(s) - zigzag , kinematics , matlab , robot , planar , path (computing) , displacement (psychology) , acceleration , trajectory , computer science , software , robot kinematics , simulation , geometry , artificial intelligence , mathematics , mobile robot , physics , classical mechanics , computer graphics (images) , psychology , astronomy , psychotherapist , programming language , operating system
The Denavit-Hardenberg (D-H) method is widely used to calculate the kinematic properties of various types of robots, where it is possible to obtain a complete description of the robot’s operation. Based on this method’s parameters, it is possible to provide the typical arrangement of all robotic joints. In this work, the kinematic properties such as displacement, velocity, and acceleration of a 3DOF Planar Robot are analyzed using MATLAB software. Two types of paths are traced in this paper, the straight path, and the zigzag path.