Analyzing the Multi-Faceted Process of 3-link Robot Arm Simulation
DOI:
https://doi.org/10.58445/rars.167Keywords:
robotics, algorithm, simulationAbstract
The simulation of robot arms are an integral component of robotics engineering as they allow us to test and alter conditions of the system and troubleshoot errors. This paper outlines the process of constructing a 3-link robot simulation, from the basic concepts to the main algorithm. The different shapes of graphs produced by varying different parameters (i.e. number of obstacles, location, coefficients)are also analyzed to determine the main contenders influencing an algorithm’s success. The efficiency and drawbacks of given parameters and algorithms are also analyzed to create a paper that provides a comprehensive view of the simulation process and potential keys for exploration. Individuals seeking an improved understanding of robot arms and their algorithms and potential applications shall benefit from this report.
References
Analyzing a 3-joint planar robot arm. (n.d.). Robot Academy. https://robotacademy.net.au/lesson/analyzing-a-3-joint-planar-robot-arm/
Assignment 3 - Path Planning. (n.d.). https://cs.brown.edu/courses/cs148/documents/asgn3_planning/btcohen/index.html
Choset, H., & Kuffner, J. (n.d.). Robotic Motion Planning: RRT’s [Slide show]. Carnegie Melon University. https://www.cs.cmu.edu/~motionplanning/lecture/lec20.pdf
Inverse kinematics using the Jacobian inverse, part 2. (2017, December 11). https://nrsyed.com/2017/12/10/inverse-kinematics-using-the-jacobian-inverse-part-2/
Jacobians. (n.d.). http://ltcconline.net/greenl/courses/202/multipleintegration/jacobians.html
Robot control part 2: Jacobians, velocity, and force. (2017, March 18). Studywolf. https://studywolf.wordpress.com/2013/09/02/robot-control-jacobians-velocity-and-force/
Robotics Explained | Robot Course. (n.d.). https://robotics-explained.com/jacobian/
Svegliato, J. (2021, December 13). How does a robot plan a path using RRT? - Towards Data Science. Medium. https://towardsdatascience.com/how-does-a-robot-plan-a-path-in-its-environment-b8e9519c738b
Velocity of 3-Joint Planar Robot Arm. (n.d.). Robot Academy. https://robotacademy.net.au/lesson/velocity-of-3-joint-planar-robot-arm/
Downloads
Posted
Categories
License
Copyright (c) 2023 Aryah Paliwal
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
You are free to:
- Share — copy and redistribute the material in any medium or format for any purpose, even commercially.
- Adapt — remix, transform, and build upon the material for any purpose, even commercially.
- The licensor cannot revoke these freedoms as long as you follow the license terms.
Under the following terms:
- Attribution — You must give appropriate credit, provide a link to the license, and indicate if changes were made. You may do so in any reasonable manner, but not in any way that suggests the licensor endorses you or your use.
- No additional restrictions — You may not apply legal terms or technological measures that legally restrict others from doing anything the license
