RoboAnalyzer Software

Description:

Robotics is a subject that deals with the design, analysis, fabrication, and usage of robots for various automated and semi-automated tasks. The concepts taught in a typical robotics course are generally difficult to perceive just by looking at textbook figures. Hence, a need for simulation software for teaching and learning robotics is of prime importance. RoboAnalyzer® is a 3D model-based software that can be used to teach and learn robotics concepts. It is an evolving product developed in Mechatronics Lab, Department of Mechanical Engineering at IIT Delhi, New Delhi, India.

Features:
  • Serial manipulator with prismatic and revolute joints
  • DH parameters as input
  • 3D model generated based on DH parameters
  • Visualize DH parameters
  • Forward Kinematics
  • Inverse Kinematics
  • Inverse Dynamics (Based on ReDySim Algorithm)
  • Forward Dynamics (Based on ReDySim Algorithm)
  • Animation with trace of end-effector
  • Plot graphs
  • Virtual Robot Module (17+ CAD Models of Industrial Robots)
    • 1. Joint-level jogging
    2. Cartesian-level jogging
    3. Cartesian straight-line motion
    4. Integration with MATLAB (Robotics Toolbox) and MS Excel
  • Save and Open Robot Models
CHALLENGES TO THE STUDENTS AND RESEARCHERS
  • Without using this software mathematics involved in the study of robotics, e.g., forward and inverse kinematics, etc. is initially difficult to understand by students and the same is the case by a teacher to convey the essence of mathematics of robotics to the students.
  • This is due to the fact that, for example, forward and inverse kinematics involves 3D transformations, etc.
  • It is also to be noted that the industrial robots are represented using Denavit and Hartenberg (DH) parameters which are difficult to perceive and visualize in 3D.
SOLUTIONS:
  • RoboAnalyzer aims to ease out the above difficulties for students and teachers.
  • Since programming and the knowledge of CAD are not prerequisites for using RoboAnalyzer, it helps students to get started almost instantly.
BENEFITS TO THE ORGANIZATIONS
  • Teaching and learning robotics involve advanced level concepts from mathematics to mechanics to trajectory planning and control.
  • Explaining them in a classroom environment may be challenging.
  • A teaching software like RoboAnalyzer presents an effective way to overcome most of the above challenges.
  • It has unique modules for visualization, kinematics, dynamics, and plotting, which can help a student to correlate the physics of a robot to the mathematics involved.
  • The strongest feature of the software is the visualization of the DH parameters and their effective use in relating the input-output motion characteristics of a given robot
  • Robot kinematics requires matrix algebra, coordinate transformations, and multivariate equations and they are not very intuitive if only a textbook is used.
  • However, a robotics teaching/learning software with a visualization environment can help understand their physical manifestations, and thus helping one to understand the concepts better.
  • The emphasis is given on the visualization of the DH parameters used to define a robot’s architecture and the problems or challenges that are faced while teaching or learning robot kinematics and this is how RoboAnalyzer can be effective.
  • A 3D animation environment can help demonstrate the coordinate transformations associated with the four DH parameters, that is, joint offset (b), joint angle (θ), link length (a), and twist angle (α) of two neighboring links coupled by a one-degree-of-freedom (DOF) joint, and how they correspond to the physical architecture of the robot.
  • This is a fundamental concept a beginner must understand or his/ her instructor must provide.
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