On robot modelling using Maple [Elektronisk resurs] / Johanna Wallén.

• This report studies robot modelling by means of the computer algebra tool Maple. First coordinate systems are described, and the more general way with transformation matrices is chosen in the further work. The position kinematics of the robot are then described by homogeneous transformations. The Denavit-Hartenberg representation is used, which is a systematic way to develop the forward kinematics for rigid robots. The velocity kinematics is then described by the Jacobian. The industrial robot IRB1400 from ABB Robotics is used as an example of the theory and to show the use of the procedures developed in the Maple programming language. 

Indexterm och SAB-rubrik

Maple