THE USE OF VIRTUAL REALITY TO DEMONSTRATE TRAJECTORY PLANNING AND CONTROL OF A 3-DOF UNDERACTUATED ROBOT IN A HORIZONTAL PLANE IN REAL-TIME

Authors

• Waladin K., Control and System Engineering Department, University of Technology, Baghdad, Iraq
• Mohammed Y. Algailany, Control and System Engineering Department, University of Technology, Baghdad, Iraq

Document Type

Original Study

Keywords

Control Engineering

Abstract

Real-Time 3D animation and Real-Time Simulation results are reported for a 3R underactuated robot moving in a horizontal plane using Virtual Reality Toolbox™, Real-Time Windows Target™,Real-Time Workshop®, and interfaced to Simulink® under the MATLAB® environment. The reason behind Real-time 3D animation and Real-Time simulation is to provide animated real-time tools in a realistic fashion to demonstrate the effectiveness of the controllers in tracking the desired trajectory and to provide a tool for researchers to test their proposed controllers and observe their behavior using 3-DOF underactuated manipulator in real-time.

How to Cite This Article

K., Waladin and Algailany, Mohammed Y. (2011) "THE USE OF VIRTUAL REALITY TO DEMONSTRATE TRAJECTORY PLANNING AND CONTROL OF A 3-DOF UNDERACTUATED ROBOT IN A HORIZONTAL PLANE IN REAL-TIME," Iraqi Journal of Computers, Communications, Control and Systems Engineering: Vol. 11: Iss. 2, Article 2.
Available at: https://ijccce.researchcommons.org/journal/vol11/iss2/2