Virtual UR5 Robot for Online Learning of Inverse Kinematics and Independent Joint Control Validated with FSM Position Control
نویسندگان
چکیده
Virtual remote laboratories have already been successfully implemented in educational centers for practical learning of mechatronics and robotic systems. This article presents the development a virtual articulated UR-type robot, designed as an tool that is suitable programming evaluating both inverse kinematics control robot independent joints. The 3D model was developed Blender V2.79 software uses Modbus TCP industrial communication protocol to external controller CoDeSys V3.5 software. system allows students generate test their own algorithm joints with visualization achieved performance real time. Tailored systems can be compared on robot. In this study, novel technique joint position based FSM proposed verified UR5 robots prove platform teach learn arm.
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ژورنال
عنوان ژورنال: Robotics
سال: 2023
ISSN: ['2218-6581']
DOI: https://doi.org/10.3390/robotics12010023