1 Computing and Modeling Center, Faculty of Sciences and Techniques of Bamako, University of Sciences, Techniques and Technologies of Bamako (USTTB), Bamako, Mali.
2 Artificial Intelligence and Robotics Center in Mali (AIRC-Mali).
3 Electrical Engineering Department, Normal School of Technical and Vocational Education, Bamako, Mali.
Research Article
World Journal of Advanced Research and Reviews, 2024, 24(03), 2499-2521
Received on 08 November 2024; revised on 24 December 2024; accepted on 27 December 2024
The study of industrial robots is particularly interesting in view of the many advantages that these robots offer in the production line. This paper aims to study manipulator arms in order to better understand the performance of manipulator arms. The recurring issue for the manipulator arms remains the analysis of their operating path patterns in a well-defined working space. We propose a methodology based, on the one hand, on the definition of the functional specifications of manipulator arms necessary for design and on the other hand, on the geometric modelling and control of these manipulator arms in Matlab/Simulink. The model thus constructed is capable of reproducing different trajectory configurations depending on the joint variables in a well-defined working space. The results of our model are consistent with those provided by the mathematical model using the Denavit-Hartenberg convention. According to two scenarios, the analysis of the trajectories of the manipulator arms’s end effector is carried out and especially on the SCARA, cartesian and spherical robots. This analysis generally reveals elliptic trajectories or lines described by the end effector of robots in relation to the plane linked to their base.
Geometric modeling; Performance; Trajectory; Workspace; Simulation
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Daouda CAMARA, Fadaba DANIOKO, Bourama COULIBALY and Mamadou DANSOKO. Methodology for performance assessment of industrial robots. World Journal of Advanced Research and Reviews, 2024, 24(3), 2499-2521. Article DOI: https://doi.org/10.30574/wjarr.2024.24.3.3942