Mehmet GÜL

Modeling of Inverse Kinematic Analysis of Open-Source Medical Assist Robot Arm by Python

Öz Today, the epidemic diseases such as COVID-19 spreads very fast in the globalizing world and lethal effects on human health have had a noticeable effect on the health sector. For this situations, various disciplines have had different studies to minimize the effects of the epidemic. In such cases, it is a separate requirement that the use of the opportunities brought by technology. In this study, the kinematic analysis of the open-source robot arm was especially examined in terms of reducing the workload of individuals working in the healthcare sector. The open-source robot arm is articulated and has 5 degrees of freedom. The kinematic analysis is very important for determination of the working space of the robotic systems. The inverse kinematic analysis was done with Python programming language and the control module was developed to check the analysis. The control module shows the angle values depending on the joints of the robot arm. It is also shown the Px, Py, and Pz positions obtained depending on the position of the end effector in 3D space. On the other hand, Euler angle values are also specified, which are based on the position of the last position taken by the joints of the robot arm in the 3D space. In the study, the geometric approach method was used that is still popular in the inverse kinematic analysis. It is hoped that this study will inspire the development and use of professional and industrial kinds of the open-source robot arm.

Anahtar Kelimeler:

Open-Source Robot Arm, Inverse Kinematic Analysis, Python

Tam Metin

Kaynakça

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Kaynak Göster

Bibtex	`@araştırma makalesi { cbayarfbe776697, journal = {Celal Bayar University Journal of Science}, issn = {1305-130X}, eissn = {1305-1385}, address = {}, publisher = {Celal Bayar Üniversitesi}, year = {2020}, volume = {17}, pages = {31 - 34}, doi = {10.18466/cbayarfbe.776697}, title = {Modeling of Inverse Kinematic Analysis of Open-Source Medical Assist Robot Arm by Python}, key = {cite}, author = {Gül, Mehmet} }`
APA	Gül, M . (2020). Modeling of Inverse Kinematic Analysis of Open-Source Medical Assist Robot Arm by Python . Celal Bayar University Journal of Science , 17 (1) , 31-34 . DOI: 10.18466/cbayarfbe.776697
MLA	Gül, M . "Modeling of Inverse Kinematic Analysis of Open-Source Medical Assist Robot Arm by Python" . Celal Bayar University Journal of Science 17 (2020 ): 31-34 <https://dergipark.org.tr/tr/pub/cbayarfbe/issue/60937/776697>
Chicago	Gül, M . "Modeling of Inverse Kinematic Analysis of Open-Source Medical Assist Robot Arm by Python". Celal Bayar University Journal of Science 17 (2020 ): 31-34
RIS	TY - JOUR T1 - Modeling of Inverse Kinematic Analysis of Open-Source Medical Assist Robot Arm by Python AU - Mehmet Gül Y1 - 2020 PY - 2020 N1 - doi: 10.18466/cbayarfbe.776697 DO - 10.18466/cbayarfbe.776697 T2 - Celal Bayar University Journal of Science JF - Journal JO - JOR SP - 31 EP - 34 VL - 17 IS - 1 SN - 1305-130X-1305-1385 M3 - doi: 10.18466/cbayarfbe.776697 UR - https://doi.org/10.18466/cbayarfbe.776697 Y2 - 2021 ER -
EndNote	%0 Celal Bayar Üniversitesi Fen Bilimleri Dergisi Modeling of Inverse Kinematic Analysis of Open-Source Medical Assist Robot Arm by Python %A Mehmet Gül %T Modeling of Inverse Kinematic Analysis of Open-Source Medical Assist Robot Arm by Python %D 2020 %J Celal Bayar University Journal of Science %P 1305-130X-1305-1385 %V 17 %N 1 %R doi: 10.18466/cbayarfbe.776697 %U 10.18466/cbayarfbe.776697
ISNAD	Gül, Mehmet . "Modeling of Inverse Kinematic Analysis of Open-Source Medical Assist Robot Arm by Python". Celal Bayar University Journal of Science 17 / 1 (Aralık 2020): 31-34 . https://doi.org/10.18466/cbayarfbe.776697
AMA	Gül M . Modeling of Inverse Kinematic Analysis of Open-Source Medical Assist Robot Arm by Python. Celal Bayar Univ J Sci. 2020; 17(1): 31-34.
Vancouver	Gül M . Modeling of Inverse Kinematic Analysis of Open-Source Medical Assist Robot Arm by Python. Celal Bayar University Journal of Science. 2020; 17(1): 31-34.
IEEE	M. Gül , "Modeling of Inverse Kinematic Analysis of Open-Source Medical Assist Robot Arm by Python", Celal Bayar University Journal of Science, c. 17, sayı. 1, ss. 31-34, Ara. 2021, doi:10.18466/cbayarfbe.776697