Mathematical Modeling of a Robot with Computational Simulations using Object-Oriented Programming

Authors

  • Pedro Diehl Universidade Federal de Pelotas
  • Lídia Martinelli Universidade Federal de Pelotas
  • Alexandre Molter Universidade Federal de Pelotas

Keywords:

Robotics, Simulation, Inverse Kinematics, Object-oriented programming

Abstract

The objective of the work is to implement inverse kinematics in a two-link planar robot with object-oriented programming. The article highlights relevant mathematical concepts in robotics, such as the rotation matrix and the equation of direct and inverse kinematics, applied in a manipulator robot with two degrees of freedom. Simulations of the robot's performance in the creation of graphics are presented.

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References

⁠ ⁠Barnes, D. Object-oriented programming with java: An introduction, 1st ed. Upper Saddle River, NJ: Pearson, 2000. ISBN: 978-0130869005.

⁠ ⁠Booch, G., Maksimchuk, R. A., Engle, M. W., Young, B. J., Newkirk, J. W., Houston, K., e Conallen, J. Object-oriented analysis and design with applications, 3rd ed. Old Boston, MA: Addison Wesley, 2001. ISBN: 978-0201895513.

⁠ ⁠Lay, David C. Linear Algebra and Its Applications, 4th ed. Boston: Addison-Wesley, 2012. ISBN: 978-8521622093.

⁠ ⁠Meyer, B. Object-oriented software construction, 2nd ed. Old Tappan, NJ:Prentice Hall, 1997. ISBN: 978-0136291558.

⁠ ⁠Siciliano, B., Sciavicco, L., Villani, L., e Oriolo, G., “Robotics”. Em: Advanced Textbooks in Control and Signal Processing (2009), Springer, London.

⁠ ⁠Spong, M., Hutchinson, S., e Vidyasagar, M. Robot Modeling and Control. Nashville, TN.

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Published

2024-01-31

How to Cite

Diehl, P., Martinelli, L., & Molter, A. (2024). Mathematical Modeling of a Robot with Computational Simulations using Object-Oriented Programming. Revista Interdisciplinar De Pesquisa Em Engenharia, 9(2), 46–56. Retrieved from https://periodicos.unb.br/index.php/ripe/article/view/52313

Issue

Vol. 9 No. 2 (2023): Revista Interdisciplinar de Pesquisa em Engenharia

Section

Artigos

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Copyright (c) 2024 Revista Interdisciplinar de Pesquisa em Engenharia

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