A 2-DOF ROBOT MODELATION USING QUATERNIONS AND LABVIEW® SIMULATION

Abstract

To motivate engineering students in researcharea, it is necessarily involve them in this kind of projects,which require organized investigation teams, and alsospecializing knowledge in some science or technology fields.Early ages development potential investigators is one of theprimarily objectives in most of the universities. This articleshows the kinematics modelation of the position andcomputational simulation of a two degree of freedom planerobot. For the modelation were used quaternions(hipercomplex algebra) and for the simulation usedLabView®. The robot kinematics models generate a systemequation and non linear variables, and were solved withNewton – Raphson. The investigation results can be used inmechatronics teaching and to generate rigid multibodysdynamics and kinematics simulators. Finally, researchers,engineering students and postgraduate students participatein the development of this project.

Index Terms - Kinematics, LabView, Quaternions Robotics.