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A Virtual Reality Environment for 5-DOF Robot Manipulator based on XNA Framework

by Hazim Nasir Ghafil, Ali Hussein Mohammed, Nabil H. Hadi
journal cover thumbnail

International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 113 - Number 3
Year of Publication: 2015
Authors: Hazim Nasir Ghafil, Ali Hussein Mohammed, Nabil H. Hadi
10.5120/19808-1601

Hazim Nasir Ghafil, Ali Hussein Mohammed, Nabil H. Hadi . A Virtual Reality Environment for 5-DOF Robot Manipulator based on XNA Framework. International Journal of Computer Applications. 113, 3 ( March 2015), 33-37. DOI=10.5120/19808-1601

@article{ 10.5120/19808-1601,
author = { Hazim Nasir Ghafil, Ali Hussein Mohammed, Nabil H. Hadi },
title = { A Virtual Reality Environment for 5-DOF Robot Manipulator based on XNA Framework },
journal = { International Journal of Computer Applications },
issue_date = { March 2015 },
volume = { 113 },
number = { 3 },
month = { March },
year = { 2015 },
issn = { 0975-8887 },
pages = { 33-37 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume113/number3/19808-1601/ },
doi = { 10.5120/19808-1601 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T22:50:01.874767+05:30
%A Hazim Nasir Ghafil
%A Ali Hussein Mohammed
%A Nabil H. Hadi
%T A Virtual Reality Environment for 5-DOF Robot Manipulator based on XNA Framework
%J International Journal of Computer Applications
%@ 0975-8887
%V 113
%N 3
%P 33-37
%D 2015
%I Foundation of Computer Science (FCS), NY, USA
Abstract

This work presents a complete solution for the Forward and Inverse Kinematics for a 5DOF robot manipulator and use XNA game studio as a simulator. The work include mathematical modeling of the robot Kinematics which it used in a 3D virtual environment. This text show that it can be use XNA GS as an excellent tool to simulate robots behavior.

References
  1. Mustafa Jabbar Hayawi, " Analytical Inverse kinematics Algorithm Of A 5-DOF Robot Arm ", Journal of education of college, no. 4 vol. 1, 2011
  2. Dia Zeki Al-Azzawi, " Trajectory generation and tracking control of an arc welding industrial robot ", M. Sc. thesis, Nahrain University, 1996
  3. Carlos A. Acosta Calderon, John Q. Gan, Huosheng Hu, " An Analysis of the Inverse Kinematics for a 5-DOF Manipulator ", International Journal of Automation and Computing, IVSL, 2008.
  4. Tahseen Fadhil Abbas, " Kinematics Modeling of 5DOF stationary Articulated Robots ", Eng. &Tech. Journal, Vol. 31, No. 3, university of Technology, 2013.
  5. C. S. G Lee, M. Ziegler, " A geometric approach in solving the inverse kinematics of PUMA robot ", Department of electrical and computer engineering - The university of Michigan, 1983.
  6. Mohammed Z. Al-Faiz, " Human arm simulation based on MATLAB with virtual environment", IJCCCE, VOL. 11,NO. 1,2011.
  7. Introduction to Robotics, Mechanics and Control, Third Edition, John J. Craig, 2005
Index Terms

Computer Science
Information Sciences

Keywords

Inverse kinematics Lab volt 5150 XNA Simulation Virtual reality.

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