PERFORMANCE MEASUREMENT AND DYNAMIC ANALYSIS OF TWO DOF ROBOTIC ARM MANIPULATOR

摘要

Forward and inverse kinematic analysis of 2DOF robot is presented to predict singular configurations. Cosine function is used for servo motor simulation of kinematics and dynamics using Pro/Engineer. The significance of joint-2 for reducing internal singularities is highlighted. Performance analysis in terms of condition number, local conditioning index and mobility index is carried out for the manipulator. Dynamic analysis using Lagrangian's and Newton's Euler approach is worked out analytically using MATLAB and results are plotted for their comparison.