Codes application in trajectory generation of simulated robot arm dynamics
1 Department of Electrical/Electronics, Abia State Polytechnic, Aba, Abia State, Nigeria.
2 Department of physics/Electronics, Abia State Polytechnic, Aba, Abia State. Nigeria.
3 Uma Ukpai Polytechnic, Asaga, Ohafia, Abia State, Nigeria.
Research Article
World Journal of Advanced Engineering Technology and Sciences, 2022, 06(01), 047–052.
Article DOI: 10.30574/wjaets.2022.6.1.0061
Publication history:
Received on 21 April 2022; revised on 31 May 2022; accepted on 02 June 2022
Abstract:
The robot arm used in this research had already been modelled and simulated using Simulink software (i.e. software environment) to yield a robot arm that will mimic the functionality and control of real human arm. The main objective is not to rebuild the robot arm to further enhance tasks performance by armless people in the society, rather to verify the significance of the code (program) application in trajectory generation of simulated robot arm or when simulating a robot arm. The common problem encountered with trajectory generation is to connect the initial configuration to a final configuration while satisfying other specified constraints at the endpoints (e.g., velocity constraints). The trajectory parameters (such as angle and angular velocity) of the robot arm joint had already been simulated with reference to the real human arm in order to generate a robot dynamics (trajectory) of same and equal functionality to real human arm. The code system which implies writing of appropriate languages was confirmed to contain the performance and controlling information of the robot arm. This performance and control of the robot arm appears to be the trajectory generation of the simulated robot arm. Hence, the input languages into the software environment (Simulink) were presented as codes which resulted to (have output of the desired functions) to trajectory generation of the simulated robot arm.
Keywords:
Trajectory Planning; Code; Computer Language; Robot Dynamics; Software Environment; Simulation
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