Matlab tool box for determining the workspace of Mitsubishi Robot RV-M1

Inhaltsverzeichnis (Table of Contents)

• Abstract
• List of Figures
• List of Tables
• Chapter 1: Introduction
• 1.1 Robot Workspace
• 1.2 Motivation and Objectives
• 1.3 Scope and Organization
• Chapter 2: Literature Review
• 2.1 Introduction
• 2.2 Robot Kinematics
• 2.2.1 Joint Types
• 2.2.2 Forward Kinematics
• 2.2.3 Inverse Kinematics
• 2.3 Denavit-Hartenberg (D-H) Representation
• 2.4 Workspace of Robots
• 2.5 Determining the Robot Workspace
• Chapter 3: Mitsubishi RV-M1 Robot Kinematics
• 3.1 Introduction
• 3.2 D-H Parameters for RV-M1
• Chapter 4: Workspace Determination
• 4.1 Introduction
• 4.2 Singularities
• 4.3 Constraint Singularities
• 4.4 Workspace of RV-M1 Robot
• Chapter 5: Workspace Applications
• 5.1 Introduction
• 5.2 Simulation of Workspace
• 5.3 Integration of VMC Machine with RV-M1 Robot

Zielsetzung und Themenschwerpunkte (Objectives and Key Themes)

This master's thesis focuses on developing an analytical method for determining the workspace of the Mitsubishi RV-M1 robot. The primary objective is to create a MATLAB toolbox that accurately calculates and visualizes the robot's workspace using the Denavit-Hartenberg representation and singularity analysis. The key themes explored in the thesis include:

• Robot kinematics and workspace analysis
• Denavit-Hartenberg representation for serial kinematic chains
• Singularity analysis and its application to workspace determination
• MATLAB implementation for workspace visualization and simulation
• Integration of the robot with a Vertical Machining Center (VMC) machine

Zusammenfassung der Kapitel (Chapter Summaries)

• Chapter 1 provides an introduction to the concept of robot workspace and outlines the motivation, objectives, and scope of the thesis. It highlights the importance of understanding the workspace for robot integration and task planning.
• Chapter 2 reviews relevant literature on robot kinematics, the Denavit-Hartenberg representation, and various methods for determining robot workspace. This chapter lays the theoretical foundation for the thesis.
• Chapter 3 focuses on the specific kinematics of the Mitsubishi RV-M1 robot. It establishes the Denavit-Hartenberg parameters for the robot's joint structure and provides a detailed kinematic analysis.
• Chapter 4 presents the analytical method for determining the workspace of the RV-M1 robot. This chapter focuses on identifying and characterizing the singularities of the robot's motion, which are used to define the boundaries of its workspace.
• Chapter 5 explores various applications of the developed workspace determination method. It includes simulations using the MATLAB toolbox and showcases the integration of the robot with a VMC machine.

Schlüsselwörter (Keywords)

The primary focus of this work is on robot workspace determination, using the Denavit-Hartenberg representation, singularity analysis, and MATLAB implementation. Key terms include: robot kinematics, Denavit-Hartenberg parameters, workspace, singularities, constraint equations, Mitsubishi RV-M1 robot, MATLAB toolbox, VMC integration, task planning.