Development of Direct Kinematics and Workspace Representation for Smokie Robot Manipulator & the Barret WAM
This work provides specific modeling for the Smokie Robot and Barrett WAM, but it is incremental as it applies standard robotics techniques without novel breakthroughs.
The paper tackled modeling two 6 DOF robotic arms by developing direct kinematics and workspace representations, using Denavit-Hartenberg parameters and MATLAB to visualize their workspaces.
This paper discusses modelling two 6 DOF arm robots. The first step of modelling a robot is establishing its Denavit-Hartenberg parameters. It requires assigning proper coordinates for each link and finding their exact dimensions. In this project we will develop the direct kinematics and workspace representations for two manipulators: the Smokie Robot and the Barrett WAM. After finding the D-H parameters and creating Transformation Matrices,MATLAB programming is used to represent their workspaces.