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• Computing The Kinematics Study of a 6 DOF Industrial Manipulator Prototype By Matlab

  1-5.

  Alaa Saadah

  Husam Abdulkareem

  Géza Husi

  Views:

  538

  Since the mechanical parts in the robot are designed to do the movement, studying and analyzing the motion considered a primary issue that should be taken into consider when studying and designing the robot.

  In this research 6-DOF sample of the industrial manipulator based on ABB IRB 4400 model had been studied. The mathematical model of manipulator is established by DH (Denavait Hartenberg) method. The forward kinematics was done using DH Parameters in order to get the final transformation matrix. The inverse kinematics was done using geometrical and analytical methods in order to get the end effector final position and direction by calculate Euler angles values.

  Finally, the forward and inverse kinematics equations were computing by MATLAB to get angles, end effector, position, direction and Euler angles values.

  The kinematics study and the arm movement’s equations were compered with the practical measurements to make sure it fulfills the desired purpose.     

• Forearm-attachable EMG-based Wireless Controller

  1-4.

  Tamás Bánfi

  Petra Aradi

  Views:

  94

  This paper presents the development process starting from a simple electronic module for amplification of EMG signals. During development the tasks to be solved were extended towards the creation of an EMG-base controller that eventually can be connected to a PC. Among the main goals were the simplicity and low cost of production. There are similar devices commercially available, but the main focus was on the whole process of design, testing, fabrication and the exploration of application areas. It was important to use medical recommendations. The device matches the suggestion of SENIAM, except for the resolution of A/D conversion, which is permissible due to the fact that it was not designed for medical purposes. The final version is capable of detecting and amplifying EMG signals, with the appropriate filtering and digitizing procedures for further processing. With the development of wireless communication capabilities, the device which can be attached to the forearm can be used as a USB HID device with a PC. A number of additional applications are also discussed, pointing out the fact that this piece of technology offers a wide range of possibilities.