Manufacturing Technology Today

N. Prabhu ¹, M. Dev Anand ²

Affiliations
1 DME, PSNCET, Melathidiyoor, Tirunelveli, IN
2 Dept of Mechanical Engg, Noorul Islam Centre for Higher Education, Kumaracoil, Kanyakumari District, Tamilnadu, IN

Abstract

This paper features a complete forward and backward kinematic analysis of a SCORBOT-ER Vu Plus robot arm which is used for doing successful robotic manipulation task in its workspace. The SCORBOT-ER Vu Plus is a vertical articulated robot, with five revolute joints. This design permits the end effector to be positioned and oriented arbitrarily within a large work space. Kinematics problem is generally more complex for robotic manipulators. The kinematics problem is defined as the first one is an inverse kinematic calculation which transforms the trajectory, usually specified in a Cartesian coordinate, into a sequence of required joint positions. The second one is the generation of joint torques from required joint angles and their derivatives. The Denavit-Hartenberg (D-H) Matrix is a transformation matrix from one coordinate frame to the next. The D-H model of representation is used to model robot links and joints in this study along with 4 × 4 homogeneous matrix. SCORBOT-ER Vu plus is a dependable and safe robotic system designed is useful for developing a supplementary teaching tool for practical experience in robotics, automation, Mechatronics and control systems design courses. To find the set of robot joint parameter this can be used to solve this mathematical model with the help of mathematical derived equation, MATLAB 7.10 and SCORBASE robotic control software package. The working feature of these methods makes it very successful and popular in this solution, all method results shows in an acceptable error.

Keywords

Forward Kinematics, Inverse Kinematics, Denavit-Hartenberg, Robot Manipulator, Position and Orientation.

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M. Dev Anand ¹, T. Selvaraj ¹, S. Kumanan ¹

Affiliations
1 Dept of Production Engg., National Institute of Technology, Tiruchirappalli, IN

Abstract

A high degree of automation in flexible production units demands powerful tools for supervision and fault detection. This paper outlines recent advances on the theory of model-based fault diagnosis in dynamic systems. Robot manipulator fault detection and diagnosis involves processing of huge information about the robot system. A fuzzy logic based threshold for residual evaluation is suggested here. The proposed fuzzy logic control scheme has been applied to trajectory control of a five-degree of freedom robot manipulator. The proposed method is capable to address unstructured and unknown disturbances. Simulated results are presented in terms of fault detection accuracy and knowledge extraction feasibility.

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