Configuring a virtual prototype of a BiSCARA robot
Konfigurisanje virtuelnog prototipa BiSCARA robota

Nikola Slavković, Saša Živanović, Nikola Vorkapić
2021 Tehnika  
The paper presents the configuring of a virtual prototype BiSCARA robot generated on the basis of a fully developed kinematic model of the robot. The virtual CAD model developed in this way will enable its implementation in the Python graphical environment as an integral part of the open architecture control system developed on the basis of the presented kinematic model. The developed kinematic model included solving the inverse and direct kinematic problem, determining the Jacobian matrix and
more » ... orkspace analysis. Verification of the kinematic model, i.e. the configured virtual prototype of the robot, was performed by simulations of the end-effector tip movement according to the given program in a CAD / CAM environment.
doi:10.5937/tehnika2103311s fatcat:lsqzyfyoiraw5ouefnve22rsmm