Design and Control of 7 Degree of Freedom Redundant Manipulator Arm using V-REP

Abstract

In this project report, 7 degree of freedom redundant manipulator arm is designed and then controlled. Each link of manipulator is modelled in SOLIDWORKS software and then imported to Virtual Robot Experimentation Platform (V-REP) software. In V-REP, link is grouped to form manipulator arm and attached each link with joint. Then simulation of manipulator arm is performed using V-REP. The inverse kinematics is developed in V-REP and performed operation like pick and place. Finally, graph is drawn for revolute join position, velocity and acceleration. Force applied by prismatic joint to hold the object is calculated. Obtained result is analysed and it can operate manipulator arm in real environment. Kinematic analysis involving forward and inverse kinematics is solved for various degree of freedom manipulator. Denavit-Hartenberg parameter is used and end effector’s position and orientation is obtained. Result is compared for various degree of freedom manipulator to determine the workspace required to perform by the manipulator.