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Experimental Verification of Kinematic Model of SCORBOT ER-4u Robot Manipulator
Journal: International Journal of Mechanical and Production Engineering Research and Development (IJMPERD ) (Vol.9, No. 1)Publication Date: 2019-02-28
Authors : Jayant Khurpade Sukhdeep. S. Dhami; S. S. Banwait;
Page : 131-142
Keywords : Robot Manipulator; Kinematics & D-H Parameters;
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Abstract
Kinematic modelling of a robot is important for developing position control algorithms for the robots. This paper features the kinematic modeling of a 5-axis SCORBOT ER 4u stationary articulated robot arm. A mathematical kinematic model was developed based on D-H parameters. The kinematic model was validated experimentally, by comparing reference and measured wrist positions in the Cartesian space.
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Last modified: 2019-02-27 15:07:11