A web‐based integrated GUI for 3D modeling, kinematic study, and control of robotic manipulators

Abstract

Abstract The simulation‐based analysis of any robotic system has emerged broadly in the past few years for application in educational and research enhancement. Currently, many simulation tools are available for different research areas on robotics with some advantages and limitations. In this study, the methodology of creating a web‐based graphical user interface is proposed for motion simulations and kinematic study of industrial robotic manipulators. It describes simple and straightforward modeling techniques using Web Graphics Library for creating any three‐dimensional virtual model of the robots within an HTML canvas for its motion simulation and different kinds of analysis. The positional kinematic study of the programmable universal machine for assembly 560 (PUMA 560) industrial robot through the developed interface is presented here, which helps in understanding the whole framework and can be implemented quickly for any other simulation system development. An essential aspect of the kinematic study of these serial chain robots is inverse kinematic analysis demonstrated with PUMA 560 robot with all the possible solutions. Finally, the interface is connected to an actual system following web‐based communication architecture for remote control of the actual PUMA robot.