Abstract
In this paper, a transformation matrices module was presented to obtain overall transformation matrices in position analysis of serial manipulators for Denavit-Hartenberg Method with Mathematica Software. In addition to this module an extra Mathematica code was given which is written by ChatGPT. At the end of the study, a comparison of the two methods was made.
Keywords
Tranformation matrices module position analysis of serial manipulators Denavit-Hartenberg Method ChatGPT
References
- Tsai L. W. Robot analysis: The mechanics of serial and parallel manipulators. John Wiley & Sons, Inc: New York; 1999.
- Wolfram S. The mathematica. Cambridge university press: Cambridge; 1999.
- ChatGPT [Internet]. OpenAI;2021[cited 2023 Sep 26]. Avaliable from: https://openai.com/chat-gpt/
- Küçük S, Bingül Z. Robot sistemlerinde kinematik yöntemlerin karşılaştırılması. Politeknik Dergisi. 2004;7(2):107-17.
- Faria C, Vilaça J. L, Monteiro S, Erlhagen W, Bicho E. Automatic denavit-hartenberg parameter identification for serial manipulators. 45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019. Lisbon, Portugal; 2019. p. 610-17.
- Žlajpah L, Petrič T. Geometric identification of denavit-hartenberg parameters with optical measuring system. International Conference on Robotics in Alpe-Adria Danube Region. Cham: Springer International Publishing; 2022. p. 3-10.
- Semwal V. B, Gupta Y. Determining homogenous transformation matrix from DH parameter table using deep learning techniques. Research Reports on Computer Science. 2023;2(3):23–34.
Abstract
Bu çalışmada, Mathematica Yazılımı kullanılarak Denavit-Hartenberg Yöntemi için seri manipülatörlerin konum analizinde genel dönüşüm matrislerini elde etmek amacıyla bir dönüşüm matrisleri modülü sunulmuştur. Bu modüle ek olarak ChatGPT tarafından yazılan ekstra bir Mathematica kodu verilmiştir. Çalışmanın sonunda iki yöntemin karşılaştırılması yapılmıştır.
Keywords
Dönüşüm matris modülü Seri manipülatörlerin pozisyon analizi Denavit-Hartenberg Metodu ChatGPT
References
- Tsai L. W. Robot analysis: The mechanics of serial and parallel manipulators. John Wiley & Sons, Inc: New York; 1999.
- Wolfram S. The mathematica. Cambridge university press: Cambridge; 1999.
- ChatGPT [Internet]. OpenAI;2021[cited 2023 Sep 26]. Avaliable from: https://openai.com/chat-gpt/
- Küçük S, Bingül Z. Robot sistemlerinde kinematik yöntemlerin karşılaştırılması. Politeknik Dergisi. 2004;7(2):107-17.
- Faria C, Vilaça J. L, Monteiro S, Erlhagen W, Bicho E. Automatic denavit-hartenberg parameter identification for serial manipulators. 45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019. Lisbon, Portugal; 2019. p. 610-17.
- Žlajpah L, Petrič T. Geometric identification of denavit-hartenberg parameters with optical measuring system. International Conference on Robotics in Alpe-Adria Danube Region. Cham: Springer International Publishing; 2022. p. 3-10.
- Semwal V. B, Gupta Y. Determining homogenous transformation matrix from DH parameter table using deep learning techniques. Research Reports on Computer Science. 2023;2(3):23–34.
Details
| Primary Language | Turkish |
|---|---|
| Subjects | Architecture (Other) |
| Journal Section | Research Articles |
| Authors | |
| Early Pub Date | December 14, 2023 |
| Publication Date | December 15, 2023 |
| Submission Date | September 5, 2023 |
| Published in Issue | Year 2023 Volume: 4 Issue: 2 |
Cite
This journal is prepared and published by the Bingöl University Technical Sciences journal team.