Simulation of Vision-Based Model of Robotic Work Cell (6-Axis)

EasyChair Preprint 6782

Abstract

In this paper, a technique is demonstrated which will notice the end-effectors Denavit Hartenberg (DH) parameters table as per the necessity of labor envelope. For this purpose, the authors have used Roboanalyzer software. The manipulators’ gripper is designed to move to perform a particular task in a specific way. Earlier, simulation for the ARISTO robot functioning for welding application of a curved surface has been discussed. We aim to design an MTAB ARISTO robot integrated with a vision module that suits perfectly for pick and place operation on the conveyor, upon which kinematics and simulation are done for the respective joints and links for the end effector. Motion analysis of the manipulator is shown on graphs as a time sequence of links and joints. Each of which is done using RoboAnalyzer software.

Keyphrases: Denavit Hartenberg (DH) parameters, RoboAnalyzer, forward kinematics, inverse kinematics, manipulator

@booklet{EasyChair:6782,
  author    = {Mitul Gajbhiye and Amol Chaudhary and Sangharatna Ramteke},
  title     = {Simulation of Vision-Based Model of Robotic Work Cell (6-Axis)},
  howpublished = {EasyChair Preprint 6782},
  year      = {EasyChair, 2021}}