|New Link of Mechanisms and Robotics Lab|
Study of a 6DOF Parallel Chain Industrial Robot.
|THE FOURBAR MECHANISM|
The Four bar Mechanism is studied and Simulated in MATLAB.
|THE SLIDER CRANK MECHANISM|
The Slider-crank mechanism is used to transform rotational motion into translational motion by means of a rotating driving beam, a connection rod and a sliding body.
|INVERSE KINEMATICS OF A 6R ROBOT|
Inverse kinematics of a 6R robot manipulator is shown through simulation in MATLAB
|FORWARD KINEMATICS OF A 4R ROBOT|
Forward Kinematics of a 4R robot manipulator is shown through simulation in MATLAB
|CONTROL OF 6DOF ROBOT PUMA 560 IN REAL TIME|
The PUMA 560 is used widely to teach kinematics, dynamics and control of manipulators in several universities. A Vision system is used to provide feedback and validate the performance in this experiment.
|FORWARD KINEMATICS OF A 6R ROBOT|
Forward kinematics (FK) mainly deals with constructing a Denavit-Hartenberg (D-H) transformation matrix with Puma's parameters obtained from a D-H parameter