Research Article
A Virtual Reality Environment for 5-DOF Robot Manipulator based on XNA Framework
|
International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
|
| Volume 113 - Issue 3 |
| Published: March 2015 |
| Authors: Hazim Nasir Ghafil, Ali Hussein Mohammed, Nabil H. Hadi |
10.5120/19808-1601
|
Hazim Nasir Ghafil, Ali Hussein Mohammed, Nabil H. Hadi . A Virtual Reality Environment for 5-DOF Robot Manipulator based on XNA Framework. International Journal of Computer Applications. 113, 3 (March 2015), 33-37. DOI=10.5120/19808-1601
@article{ 10.5120/19808-1601,
author = { Hazim Nasir Ghafil,Ali Hussein Mohammed,Nabil H. Hadi },
title = { A Virtual Reality Environment for 5-DOF Robot Manipulator based on XNA Framework },
journal = { International Journal of Computer Applications },
year = { 2015 },
volume = { 113 },
number = { 3 },
pages = { 33-37 },
doi = { 10.5120/19808-1601 },
publisher = { Foundation of Computer Science (FCS), NY, USA }
}
%0 Journal Article
%D 2015
%A Hazim Nasir Ghafil
%A Ali Hussein Mohammed
%A Nabil H. Hadi
%T A Virtual Reality Environment for 5-DOF Robot Manipulator based on XNA Framework%T
%J International Journal of Computer Applications
%V 113
%N 3
%P 33-37
%R 10.5120/19808-1601
%I Foundation of Computer Science (FCS), NY, USA
Abstract
This work presents a complete solution for the Forward and Inverse Kinematics for a 5DOF robot manipulator and use XNA game studio as a simulator. The work include mathematical modeling of the robot Kinematics which it used in a 3D virtual environment. This text show that it can be use XNA GS as an excellent tool to simulate robots behavior.
References
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- Carlos A. Acosta Calderon, John Q. Gan, Huosheng Hu, " An Analysis of the Inverse Kinematics for a 5-DOF Manipulator ", International Journal of Automation and Computing, IVSL, 2008.
- Tahseen Fadhil Abbas, " Kinematics Modeling of 5DOF stationary Articulated Robots ", Eng. &Tech. Journal, Vol. 31, No. 3, university of Technology, 2013.
- C. S. G Lee, M. Ziegler, " A geometric approach in solving the inverse kinematics of PUMA robot ", Department of electrical and computer engineering - The university of Michigan, 1983.
- Mohammed Z. Al-Faiz, " Human arm simulation based on MATLAB with virtual environment", IJCCCE, VOL. 11,NO. 1,2011.
- Introduction to Robotics, Mechanics and Control, Third Edition, John J. Craig, 2005
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