Chapters authored
Forward and Inverse Kinematics Using Pseudoinverse and Transposition Method for Robotic Arm DOBOT
Kinematic structure of the DOBOT manipulator is presented in this chapter. Joint coordinates and end-effector coordinates of the manipulator are functions of independent coordinates, i.e., joint parameters. This chapter explained forward kinematics task and issue of inverse kinematics task on the structure of the DOBOT manipulator. Linearization of forward kinematic equations is made with usage of Taylor Series for multiple variables. The inversion of Jacobian matrix was used for numerical solution of the inverse kinematics task. The chapter contains analytical equations, which are solution of inverse kinematics task. It should be noted that the analytical solution exists only for simple kinematic structures, for example DOBOT manipulator structure. Subsequently, simulation of the inverse kinematics of the above-mentioned kinematic structure was performed in the Matlab Simulink environment using the SimMechanics toolbox.
Part of the book: Kinematics
Using of Virtual Instrumentation in the Teaching of Autotronics
This chapter presents using of virtual instrumentation for improvement of teaching and demonstration of communication of one of the most popular automotive buses CAN BUS. Virtual instrumentation is used in several ways for easier understanding of communication by using the automotive bus. The first way is a demonstration by visualization of data of programable gateway. The second way of using virtual instrumentation is the visualization of the instrument cluster which is controlled by the student’s development kit with the microprocessor. The visualization is also used for the demonstrational panel which consists of a development kit, instrument cluster, turbocharger, and accelerator pedal. The communication with these components is also visualized. The last usage of virtual instrumentation is controlling real instrument clusters from Skoda and VW vehicles using LabVIEW and CAN BUS interfaces. In both, controlling and visualizing of instrument cluster are used the same messages as in real vehicle, so it is easier for students to understand the structure of communication through automotive buses of the real vehicle.
Part of the book: LabVIEW