DIFFERENTIAL MOTION ANALYSIS OF LAB-VOLT R5150 ROBOT SYSTEM

Differential motion is a way to track and explain motion for different points of the robot. It can be used to study movement of robot mechanisms through a Small period of time. In this paper, forward kinematics modeling and differential motion analysis of (5 DOF) Lab-Volt R5150 robotic manipulator are presented. The standard Denavit-Hartenberg (DH) model is applied to build the mathematical modeling to determine and simulate the position and orientation of the end effector for the 5DOF Lab-Volt R5150 robot manipulator. This position will be used to calculate the required joint variable. Differential motion uses Jacobian method to calculate and analyze the end-effector velocity and its relation to the joint variables velocities. A diagram between (velocities - time) has been presented and drawn for several cases. Important conclusions are reported from the values obtained.