Assisted Analyze of the Kinematics in Robotics

Abstract

This paper shown one matrix method for assisted analyze of the Kinematics in Robotics by using the Virtual LabVIEW instrumentation. This purpose offers the possibility for applicants to choose the best controlling algorithm of the movement after were analyzed the results of positions and velocities characteristics. The virtual simulation of them assures the best choose of the robot’s movements with the minimum variation of the velocities. By applying the pounder theory, were established the best behavior between all analyzed movement cases: simultaneously, successive, simultaneously after successive in the acceleration period, or simultaneously and successive in the deceleration period. Other goals of the research were to show all components of the used virtual instrumentation (VI) and the obtained results after the simulation work. For generality of the study, the proper LabVIEW VI-s contents the tab and case control of different types of robots that it is usually: Gun, Scale, Arm, Cartesian and Double Portal and the mathematical matrix model for positions and velocities. This analyze offers to researchers one virtual instrument what could be used to choose the best solution of the robot’s, or of the movements type, or of one special controlling algorithm for one application.