LabVIEW Software Platform for Kinematics Analyse in Robotics

Abstract

The paper shown one new LabVIEW software platform for the Kinematics analyse in Robotics. This platform contents some more important type of robots and the positions, velocities and accelerations assisted analyse. The program contains a case-type structure with the various types of analysed robots, which also include related Cartesian systems applied in all joints. The front panel of the program contains a twodimensional table with the input data of all relative position vectors between all joints, clusters for defining all robot modules and clusters for defining all parameters of the trapezoidal characteristics of relative motion in all robot’s joints. The clusters that define the robot modules contain information on the translation or rotation couple, the angular or linear home position and respectively the axes of movement by rotation or translation. The results are shown by 3D graphics of space trajectory, of space movement of the velocities and acceleration vectors. With this platform will be possible to quickly analyse some different variants of the movement like simultaneously, successive and complex combination between them and choose the best variant for one good dynamic behaviour without vibration, without pick of moments and forces. This software platform solves one small part of the complex problems of the robot’s kinematics.