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This book covers a wide range of topics relating to advanced industrial robotics, sensors and automation technologies. Although being highly technical and complex in nature, the papers presented in this book represent some of the latest cutting edge technologies and advancements in industrial robotics technology. This book covers topics such as networking,(More)
In this paper, conventional global and local indices – structural length index, manipulability measure, condition number and Global Conditioning Index (GCI) – have been examined for the workspace optimization of the sixteen fundamental robot manipulators classified by B. Huang and V. Milenkovic [Kinematics of major robot linkages, Robotics International of(More)
Robotics has gained popularity in education so many engineering schools are offering robotics courses. In this study, a novel robot toolbox, ''ROBOLAB'' is developed for the educational users to improve the understanding of robotics fundamentals through interactive real-time simulation. To understand manipulator movement in 3-D space with increasing number(More)
In this work, the inverse kinematics of sixteen fundamental 6-DOF robot manipulators with offset wrist were solved analyticplly and numerically. Analytical and numerical techniques are the most common approaches for solving inverse kinematics problems. They are generally de­ sired to be solved analytically in order to have complete solu­ tion and fast(More)
– The major complications of inverse kinematics problem for serial robot manipulators are singularities and nonlinearities. In this context, it is important to formulize the inverse problem in a compact closed form. In this paper, we present closed form solutions of the 6-DOF industrial robot manipulators with Euler wrist using dual quaternions. The(More)
In this paper, the inverse kinematics solutions for 16 industrial 6-Degrees-of-Freedom (DOF) robot manipulators with offset wrists are solved analytically and numerically based on the existence of the closed form equations. A new numerical algorithm is proposed for the inverse kinematics of the robot manipulators that cannot be solved in closed form. In(More)
A new robot toolbox for dynamics simulation based on MATLAB Graphical User Interface (GUI) is developed for educational purposes. It is built on the previous version named as ROBOLAB performing only the kinematics analysis of robot manipulators. The toolbox presented in this paper provides interactive real-time simulation and visualization of the industrial(More)