Proper LabVIEW Instrumentation of the Robot’s Kinematics and Dynamics Behavior
The most important in the study of the robots is the kinematic and dynamic analyze. Many researchers studied the kinematics or dynamics without simulation and assisted analyze that it is very heavy to understand the behavior and to show some characteristics. The paper shows one assisted method by using the virtual proper LabVIEW instrumentation (VI). For the forward kinematics (FK) and for direct dynamics (DD) was used one recurrent matrix method which was developed with quaternion algebra, that will be possible to use in many different other types of robots, only by initial settings of the type of joints, the movement axis, the home position, the dimension of each robot’s body, the application point in the working space of the manufacturing cells and the internal coordinates in each joint. For the inverse kinematics (IK) we used the Iterative Pseudo Inverse Jacobian Matrix Method (IPIJMM) coupled with the proper Sigmoid Bipolar Hyperbolic Tangent Neural Network with Time Delay and Recurrent Links (SBHTNN-TDRL). The paper describe all steps in one case study to obtain the space curve in different Euller planes by using one arm type robot and the proposed VI-s. The presented method and the LabVIEW VI-s are generally and they can be used in all other robots types and for all other conventional and unconventional space curves.
Prof. Adrian Olaru
A. Olaru et al., "Proper LabVIEW Instrumentation of the Robot’s Kinematics and Dynamics Behavior", Applied Mechanics and Materials, Vol. 811, pp. 291-299, 2015