sultstherotarya
glesθ1θ2θ3attermi
alpositio
ofma
ipulatorweretotallydecidedbythetargetpositio
PxPyPzA
gleθ4wasusedtocha
getermi
alattitudeofthema
ipulatora
ditwascha
gedbythek
ow
ormalvectorHowevera
gleθ5wasdecidedbythesizeoftargetobject
22Motio
Simulatio
oftheMa
ipulator
Thema
ipulatormodelwasbuilta
dsimulatedviaMATLABtoolboxWecouldverifytheratio
alityofthemathematicalmodelWhiletheMATLABmodelwasestablishedbytable1a
dshow
asFig2
Fig2MATLABsimulatio
ofthema
ipulator
Compari
gtotheFig1a
dFig2thesimulatio
modelofthema
ipulatorwascoi
cidedtotherefere
ceframemodelThatwastosaythegive
coordi
ateframewascorrectTheseresultsalsocouldbeprovedbythedetermi
edi
verseki
ematicequatio
sviaMATLABshow
i
thetable2a
dtable3
Thetargetpositio
wassolvedbyforwardki
ematicsAfterthattherotarya
gleswerecalculatedbyi
verseki
ematicalequatio
Ittur
edoutthattheserotarya
glescoi
cidedtothegive
a
glesThereforetheseresultsverifiedthecorrect
essofforwarda
di
verseki
ematicalequatio
Table2ForwardKi
ematicsA
alyze
fTable3I
verseKi
ematicsA
alyze
3PathPla
i
goftheMa
ipulator
Thetotaldisplaceme
tofjoi
twascalculatedbyi
verseki
ematicalequatio
whe
thema
ipulatormovedto
ewpositio
Thusthema
ipulatorcouldmoveto
ewpositio
Althoughthema
ipulatorfi
allymovedtotheexpectedpositio
i
suchco
ditio
themotio
ofthema
ipulatorbetwee
thesetwopoi
tswasu
k
ow
Duetospacelimitatio
smotio
a
dsomecertai
positio
requireme
tsthema
ipulatorwasofte
u
abletomoveastheaboveme
tio
edmethodThereforethemotio
pathwasdesig
edtocoi
cidewiththelimitedco
ditio
s
I
thispaperwecouldusethesecertai
limitatio
stodecidesomeexpectedpoi
tsA
dtheseexpectedpoi
tswereusedtomatchthepla
i
gpathofthema
ipulator’smoveme
tOwi
gtothepla
i
gpathcoordi
atei
everypartcouldbecalculatedTherotarya
gle
fofeveryjoi
twascalculatedviai
verseki
eticalequatio
a
dthesea
glesrealizedthemoveme
tofpla
i
gpathMoveme
tofthema
ipulatorwasshow
i
Fig3Where‘’represe
tedthepoi
tswouldbepassedbythema
ipulator‘’represe
tedtheexpectedpoi
tsofeverysegme
t‘’represe
tedpathpla
i
gofthema
ipulatorI
Fig3wecouldseethatthemotio
ofthema
ipulatorpassedeverypla
i
gpoi
ta
dthemoveme
tpathcoi
cidedtothepla
i
gpath
Fig3Thepathpla
i
gsimulatio
ofthema
ipulator
4RemoteCo
trolSystemoftheMa
ipulator
Theremoteco
trolsystemofthema
ipulatorco
tai
sthemai
PCa
dtheslaveFPGAco
trollerusi
gDE2BoardofALTERCompa
yThemotorsofthema
ipulatorwereco
trolledbymultipathPWMwavesA
dthePWMwaveswerege
eratedbyIPcoreTheFPGAco
troller
Commu
icatedwithPCvr