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Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 31, No. 5, pp. 338-345
Abbreviation: J. Korean Soc. Manuf. Technol. Eng.
ISSN: 2508-5107 (Online)
Print publication date 15 Oct 2022
Received 22 Aug 2022 Revised 22 Sep 2022 Accepted 29 Sep 2022
DOI: https://doi.org/10.7735/ksmte.2022.31.5.338
6자유도 오픈소스 로봇팔의 기구학 해석 및 시뮬레이터 개발
이상헌a, *
Kinematic Analysis and Development of Robot Simulator for Open-Source Six-Degree-of-Freedom Robot Arm
SangHeon Leea, *
aDepartment of Mechanical & Robotics Engingeering, Andong National University
Correspondence to : *Tel.: +82-54-820-5908 E-mail address: shlee@andong.ac.kr (SangHeon Lee).
Funding Information ▼ ANDONG NATIONAL UNIVERSITY

With the advancement of three-dimensional printing technologies and the disclosure of the technology under open source, an environment has been created where individuals can easily handle cutting-edge technology handled by expert groups. However, it is still difficult to use the available information without background knowledge of engineering technology. A robot model that can be used for educational and personal projects was selected among the open-source robot arms to assist users in utilizing the benefits of this technological trend. The kinematic analysis, trajectory generation, and position error analysis of the robot arm were performed, and a robot simulator that simulates and operates the robot via communication was developed. Tests including multiple-degree-of-freedom motions demonstrated the feasibility of the developed robot simulator and open-source robot arm for advanced applications.