LOGIN TO YOUR ACCOUNT

Username
Password
Remember Me
Or use your Academic/Social account:

CREATE AN ACCOUNT

Or use your Academic/Social account:

Congratulations!

You have just completed your registration at OpenAire.

Before you can login to the site, you will need to activate your account. An e-mail will be sent to you with the proper instructions.

Important!

Please note that this site is currently undergoing Beta testing.
Any new content you create is not guaranteed to be present to the final version of the site upon release.

Thank you for your patience,
OpenAire Dev Team.

Close This Message

CREATE AN ACCOUNT

Name:
Username:
Password:
Verify Password:
E-mail:
Verify E-mail:
*All Fields Are Required.
Please Verify You Are Human:
fbtwitterlinkedinvimeoflicker grey 14rssslideshare1
DEBENEC, PRIMOŽ (2015)
Publisher: P. Debenec
Languages: Slovenian
Types: Bachelor thesis
Subjects: diplomske naloge, joint, robotic arm, robotics, link, inverzna kinematika, OWI-535, visokošolski strokovni študij, koordinatni sistem, robotska roka, Arduino, computer science, ROS, segment, diploma, coordinate system, 007.52:004.42(043.2) [udc], direktna kinematika, OWI-535., direct kinematics, inverse kinematics, računalništvo, robotika, computer and information science, računalništvo in informatika, sklep

Classified by OpenAIRE into

arxiv: Computer Science::Robotics, Astrophysics::Galaxy Astrophysics
The thesis aims to calculate the inverse kinematics for the OWI-535 robotic arm. The calculation of the inverse kinematics determines the joint parameters that provide the right pose of the end effector. The pose consists of the position and orientation, however, we will focus only on the second one. Due to arm limitations, we have created our own type of the calculation of the inverse kinematics. At first we have derived it only theoretically, and then we have transferred the derivation into the software code. The process, how to calculate the result of the inverse kinematics, is divided into two parts. The first part consists of the calculation of the inverse kinematics, where the result is the set of possible results. The second part includes the selection of the best results from the set of results we have gotten in the first part. We have also made an upgrade that includes the orientation of the robotic arm. The robotic arm can move to the given point, turned to the preselected direction. The programming part is made in the C++ programming language in the ROS framework that is working on the Linux operating system. We have also made some experimental measurements, where we can see the actual movement accuracy of the OWI-535 robotic arm.
  • No references.
  • No related research data.
  • No similar publications.

Share - Bookmark

Cite this article