The tele-operated virtual construction robot is an important part of the tele-operated construction robot system based on virtual reality. To improve the realness of the virtual construction robot and reduce the difficulty of development, the hybrid modeling method of combining OpenGL function modeling with Solidworks software modeling, along with the Denavit-Hartenberg (D-H) method were invest...

RobotiCad is a user-friendly Matlab/Simulink toolbox for the modeling and simulation of robotic manipulators. With RobotiCad, starting from Denavit-Hartenberg parameters, it is possible to create the kinematic and dynamic models of any serial mechanical structure, together with its 3D graphical model. When a robot is created, it can be exported in a dedicated file that can be loaded in a Simuli...

This paper studies the geometric design of spatial two degrees of freedom, open loop robot manipulators with revolute joints that perform tasks, which require the positioning of the end-effector in three spatial locations. This research is important in situations where a robotic manipulator or mechanism with a small number of joint degrees of freedom is designed to perform higher degree of free...

In this paper a generic kinematic model for robot structure error analysis is built and then is extended to analyze an active vision system. An active vision system is a robot device for controlling the motion of cameras based on visual information. Because the models are derived from the Denavit-Hartenberg transformation matrix, differential changes for the transformation matrix and link param...

High redundancy and strong uncertainty are two main characteristics for underwater robotic manipulators with unlimited workspace and mobility, but they also make the motion planning and control difficult and complex. In order to setup the groundwork for the research on control schemes, the mathematical representation is built by using the Denavit-Hartenberg (D-H) method [9]&[12]; in addition to...

In this article, we discuss industrial robot characteristics of accuracy and repeatability. The factors that affect these characteristics are identified, and an error tree is developed. Subsequently, the accuracy and repeatability are investigated utilizing the Denavit-Hartenberg kinematics parameters, the homogeneous transformation matrix, and the differential transformation matrix theory, and...

In this paper, the four-precision-point geometric design problem of serial-link robot manipulators with three revolute joints is solved using a polynomial continuation method. At each precision point, the end-effector spatial locations are defined. The dimensions of the geometric parameters of the 3R manipulator are computed so that the manipulator’s end-effector will be able to reach these fou...

This paper represents a systematic way for generation of Aaria, a simulated model for serial manipulators for the purpose of kinematic or dynamic analysis with a vast variety of structures based on Simulink SimMechanics. The proposed model can receive configuration parameters, for instance in accordance with modified Denavit-Hartenberg convention, or trajectories for its base or joints for stru...

This study presents a novel dynamic modelling of a rigid serial manipulator using a compact formula of inertia tensor to simplify dynamic modelling and mathematical transformations. The matrix transformation is used appropriately as a powerful tool for this purpose. The kinetic energy, the potential energy and the inertia matrix of manipulator all are formulated in Denavit-Hartenberg frames (D-...