Forward Kinematics Solution For 5 Degree Of Freedom Of Rhino Xr-3 Robot

Mohd Norhisham, Che Soh (2009) Forward Kinematics Solution For 5 Degree Of Freedom Of Rhino Xr-3 Robot. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

This project develops an algorithm for solving the forward kinematics equation. The forward kinematics equation is solving to determine the gripper position and orientation by using suitable programming software for 5 Degree of Freedom (DOF) of Rhino XR-3 robot. The process involves the control of parameter known as angles ( ) of rotation linkages of the three main axes of the robot. This parameter is determined by user before the forward kinematics equation is solved. Its forward kinematics problem will be solved by using conventional method and simulation. Result from the conventional method is used as guidelines for developing an algorithm to ensure the algorithm is correct and can be use for solving the forward kinematics equation. The graphical user interface will be design where user needs to setting up the value of control parameter and then solve the forward kinematics equation. The correct output of interface prove that this command can be used for solves forward kinematics equation. Overall, this project will describe the technique, calculation, method and algorithm on how the forward kinematics is solved.

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