A visual tool for kinematics analyses of Lynx-6 robot arms together with dynamic modeling of DC motors at robot joints

Koyuncu B., GÜZEL M. S.

2008 International Conference on Automation, Robotics and Control Systems, ARCS 2008, Orlando, FL, Amerika Birleşik Devletleri, 7 - 10 Temmuz 2008, ss.145-150 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: Orlando, FL
  • Basıldığı Ülke: Amerika Birleşik Devletleri
  • Sayfa Sayıları: ss.145-150
  • Anahtar Kelimeler: DC motor, Kinematics, Lynx-6, PWM, Robot arm, Simulation, Software
  • Ankara Üniversitesi Adresli: Evet

Özet

This paper presents a user friendly simulation software tool for dynamic analysis of a Lynx-6 robot arm's actuators. Kinematics analysis of robot arm was visually displayed with this tool in relation to dc motors which were used at the robot arm joints. Dynamic modeling of DC motors were introduced. Their combined motion within the arm was analyzed and displayed visually.