Document Type
Thesis
Date of Award
5-31-1987
Degree Name
Master of Science in Mechanical Engineering - (M.S.)
Department
Mechanical Engineering
First Advisor
Rajesh N. Dave
Second Advisor
Bernard Koplik
Third Advisor
R. S. Sodhi
Abstract
A software package for three dimensional wire frame modeling of an educational robot is developed for personal computers. This package can be used by students as well as robot technicians to study basic principles of robot kinematics. The interactive simulation software supports both the joint-level and world-level motion control, enabling user to understand teach-pendant programming as well as robot level off-line programming. The desired orientation and position of the robot hand can also be specified through a homogeneous transformation matrix, allowing an advanced student to learn the concept of world modeling in the design of robot work cells. To help build up the knowledge of robot co-ordinate transformation and arm configuration of each position, the corresponding arm solution is displayed with the picture.
Options are provided to show robot co-ordinate axes, to draw base grid markings as well as to highlight the current position of the hand. These options create better visualization. The user can store, display and edit several positions of the robot and then display the animated robot motion. The package also allows user to create simulation of robot tasks such as pick and place. This versatile software package converts a personal computer into a robotic workstation, which can be used by educators, students as well as engineers.
Recommended Citation
Jana, Amitava, "Robotic simulation package for personal computers" (1987). Theses. 3122.
https://digitalcommons.njit.edu/theses/3122
