RT Journal Article
SR Electronic
A1 Ondočko, Štefan
A1 Stejskal, Tomáš
A1 Svetlík, Jozef
A1 Hrivniak, Lukáš
A1 Šašala, Michal
A1 Žilinský, Adam
T1 Position Forward Kinematics of 6-DOF  Robotic Arm
JF Acta Mechanica Slovaca
YR 2020
VO 24
IS 2
SP 30
OP 36
DO 10.21496/ams.2020.018
UL https://www.actamechanica.sk/artkey/ams-202002-0004.php
AB The paper describes the construction and verification of a kinematic model of a robotic arm position, which should be composed of special modules (URM). The concept of modularity plays a fairly important role here, as it is possible to assemble from individual modules machines with different movement options and several degrees of freedom. The degrees of freedom of the arm are facilitated by six rotating links, which are, thank to those modules, unlimited. The actual implementation of the robotic arm's kinematic model into the software environment occurred in two environments. In order to check the correctness of the calculation of the individual parts of the kinematic structure's position in space, two different models were intentionally created. A mathematical model in Matlab - Simulink and a mechanical model built in the Matlab - Simscape environment.