Development of Direct Kinematics and Workspace Representation for Smokie Robot Manipulator & the Barret WAM

TL;DR

This paper models two 6 DOF robotic arms, the Smokie and Barrett WAM, by establishing their Denavit-Hartenberg parameters and using MATLAB to represent their workspaces, aiding in robot design and analysis.

Contribution

It develops direct kinematics and workspace representations for the Smokie and Barrett WAM robots, providing detailed D-H parameters and MATLAB models for these manipulators.

Findings

Successfully derived D-H parameters for both robots

Created MATLAB models of their workspaces

Enhanced understanding of robot kinematics and workspace boundaries

Abstract

This paper discusses modelling two 6 DOF arm robots. The first step of modelling a robot is establishing its Denavit-Hartenberg parameters. It requires assigning proper coordinates for each link and finding their exact dimensions. In this project we will develop the direct kinematics and workspace representations for two manipulators: the Smokie Robot and the Barrett WAM. After finding the D-H parameters and creating Transformation Matrices,MATLAB programming is used to represent their workspaces.