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Title: | Integration of a robot arm and software development for object handling by inverse kinematics | Authors: | Pham Hoang Hai | Issue Date: | 2019 | Abstract: | This bachelor thesis presents a controlling software of manipulating an already existing five-degree-of-freedom arm system, which was constructed at the Frankfurt University of Applied Sciences, by using inverse kinematics. The complete program has been developed using LABVIEW (8) software. By finding the Denavit-Hartenberg parameters, the inverse kinematics equations of motion can be derived to solve the problems of automatic control of five revolute joints manipulator arm system. Besides, the developed software is implemented and tested in order to analyze and improve the algorithms of Inverse Kinematics. Furthermore, the arm system is integrated to Roswitha Robot, which already has the autonomous navigation functionality, in order to carry out more complex tasks. |
URI(1): | http://epub.vgu.edu.vn/handle/dlibvgu/1148 |
Appears in Collections: | Electrical Engineering and Information Technology (EEIT) Electrical Engineering and Information Technology (EEIT) |
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