Build-A-Robot: Using virtual reality to visualize the Denavit-Hartenberg parameters

Megan Flanders; Richard C. Kavanagh

doi:10.1002/cae.21656

Build-A-Robot: Using virtual reality to visualize the Denavit-Hartenberg parameters

Megan Flanders
, Richard C. Kavanagh

School of Engineering and Architecture

University College Cork

Research output: Contribution to journal › Article › peer-review

Abstract

Virtual reality-based educational tools allow students to visualize and interact with three-dimensional objects in ways that cannot be achieved using traditional teaching methods. This type of educational tool is especially relevant to mechanically-complex courses, such as those pertaining to robotics and mechatronics. Build-A-Robot is such a tool, created using the Virtual Reality Modeling Language (VRML), MATLAB, and the Simulink 3D Animation Toolbox, to study the forward kinematics of serial robot arms according to the Denavit-Hartenberg convention. This tool is described, and the power of using MATLAB to directly manipulate VRML geometric dimensions is explored. The potential of this tool is evidenced by student survey responses and examination results.

Original language	English
Pages (from-to)	846-853
Number of pages	8
Journal	Computer Applications in Engineering Education
Volume	23
Issue number	6
DOIs	https://doi.org/10.1002/cae.21656
Publication status	Published - Nov 2015

Keywords

forward kinematics
MATLAB
mechatronics
robotics
VRML

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10.1002/cae.21656

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title = "Build-A-Robot: Using virtual reality to visualize the Denavit-Hartenberg parameters",

abstract = "Virtual reality-based educational tools allow students to visualize and interact with three-dimensional objects in ways that cannot be achieved using traditional teaching methods. This type of educational tool is especially relevant to mechanically-complex courses, such as those pertaining to robotics and mechatronics. Build-A-Robot is such a tool, created using the Virtual Reality Modeling Language (VRML), MATLAB, and the Simulink 3D Animation Toolbox, to study the forward kinematics of serial robot arms according to the Denavit-Hartenberg convention. This tool is described, and the power of using MATLAB to directly manipulate VRML geometric dimensions is explored. The potential of this tool is evidenced by student survey responses and examination results.",

keywords = "forward kinematics, MATLAB, mechatronics, robotics, VRML",

author = "Megan Flanders and Kavanagh, \{Richard C.\}",

note = "Publisher Copyright: {\textcopyright} 2015 Wiley Periodicals, Inc.",

year = "2015",

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AB - Virtual reality-based educational tools allow students to visualize and interact with three-dimensional objects in ways that cannot be achieved using traditional teaching methods. This type of educational tool is especially relevant to mechanically-complex courses, such as those pertaining to robotics and mechatronics. Build-A-Robot is such a tool, created using the Virtual Reality Modeling Language (VRML), MATLAB, and the Simulink 3D Animation Toolbox, to study the forward kinematics of serial robot arms according to the Denavit-Hartenberg convention. This tool is described, and the power of using MATLAB to directly manipulate VRML geometric dimensions is explored. The potential of this tool is evidenced by student survey responses and examination results.

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Build-A-Robot: Using virtual reality to visualize the Denavit-Hartenberg parameters

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Keywords

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