Simulation and control of a robot arm with five axes

In this study, the inverse kinematics calculations and trajectory planning of a robot arm with five axes has been done, a system that would define any obstacle/target could be appeared on the way of robot arm during its motion has been developed and the motion of robot arm has been simulated using computer. The inverse kinematics problem of robot arm has been solved by dividing it into sub problems which were known as Paden-Kahan sub problems. After that, in the inverse kinematics problem, Cartesian coordinates of the goal point (x, y, z) and the angle of the end effecter () with respect to the initial position were entered as an input and the joint angles (1, 2, 3, 4) were calculated. The trajectory was planned in such a way that the robot achieves a smooth motion while performing the task. While planning trajectory, fifth order polynomials have been used for obtaining continuity in the position, velocity and acceleration. A system consists of a camera and software was developed for perceiving if any obstacle/target was on the way of robot arm. The camera has been located on the system to see the robot arm and the images taken by the camera were transferred to the computer. Using image process technique and object ii recognizing algorithm, the obstacle was defined from the images taken. Convolution technique was basically used in the object recognizing algorithm. After the obstacle recognized, the relation between pixel and distance was obtained using the selected reference points in the image and the location of the object which respect to the robot arm was calculated. If the object recognized in the image is on the trajectory of the robot arm, an interval point was calculated for robot arm to escape from the obstacle or to reach the target. The motion of the robot arm was simulated in 3-dimension in computer after the object recognized and the joint angles of the robot arm was calculated. At the end of the simulation, time dependence of angle, velocity and acceleration graphs of joints of the robot arm have been drawn. The inverse kinematics calculations, trajectory planning and relation between pixel and distance and 3- dimensional simulation were realized using ?Delphi 7? programming language. Image processing and object recognizing were realized using ?MATLAB R2006a? and the results of calculations were transferred to the program written in ?Delphi 7?.