Track: Modeling and Simulation
Abstract
Dobot Magician-a 3 degrees of freedom (DoF) robot- is widely used nowadays in education and in research on industrial robotics. In this paper, we developed forward kinematics and inverse kinematics of Dobot magician robot, and built a non-linear approach for cartesian control of its end-effector position. Modified Denavit-Hartenberg (DH) convention was used to obtain forward kinematics. An Algebraic approach was used to find inverse kinematics solution and presented in details. An algorithm based on developed inverse kinematic was developed to conversion Dobot’s Cartesian variables into joint variables. This conversion facilitated to obtain Cartesian control of Dobot Magician robot. Lastly, simulation results show stability and efficacy of developed control approach in maneuvering the Dobot’s end-effector position.