Typical Computational-Experimental Tasks and Research Work of Students in the Course of Robotics

Abstract

The formulation and methodology of performing a computational-experimental task for students of robotics specialties in the study of kinematics of robots are presented. In the computational task with the help of the Mathematica program, the parameters of the end-effector location and the platform coordinates of the kinematically redundant KUKA youBot mobile manipulator under which there are solutions to the inverse kinematics problem are selected. A computer model of the robot is constructed in configurations corresponding to the exact solutions found in solving the inverse problem of kinematics. Then the real robot is exposed in the same positions. The results of the numerical and the real experiment are compared. The Mathematica program for simulation and the $\mathbf{C}$ ++ control program that implement KUKA youBot kinematics are developed within the framework of students' research work.