Matlab tool box for determining the workspace of Mitsubishi Robot RV-M1

Master's Thesis from the year 2002 in the subject Engineering - Mechanical Engineering, , language: English, abstract: The workspace of RV-M1 Mitsubishi Robot is determined by an analytical method. The method is applicable to kinematic chains that can be modeled using theDenavit-Hartenberg representation for serial kinematic chains. This method isbased upon analytical criteria for determining singular behavior of the mechanism. By manipulating the Jacobian of the robot by the row rank deficiency condition, thesingularities are computed. Then these singularities are substituted into theconstraint equations to parameterize singular surfaces. The boundary conditions ofthe joints are substituted to obtain the other set of singularities. These singularitiesare substituted in the wrist vector to obtain the range of motion of the robot wrist inthree dimensional space, which is the workspace of the Mitsubishi Robot RV-M1. These singularities are plotted in Matlab to develop all the surfaces enveloping theworkspace of the Robot. The toolbox developed also shows three dimensionalview of the workspace, front view, and top view of the workspace. The utility of theworkspace development is shown through a case study, in which, Robot wristrange is determined at different heights of Machine bed, for integration of RobotRV-M1 and VMC Machine. A loading and unloading application of the VMCMachine by the Robot can be planned using this data. This application is simulatedusing the developed toolbox.