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All Journal Bulletin of Electrical Engineering and Informatics Indonesian Journal of Electrical Engineering and Computer Science
Khalaf S Gaeid
Tikrit University
Electrical & Electronics Engineering

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Robot control and kinematic analysis with 6DoF manipulator using direct kinematic method Khalaf S Gaeid; Asaad F Nashee; Ibrahim A. Ahmed; Mohammed H. Dekheel
Bulletin of Electrical Engineering and Informatics Vol 10, No 1: February 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v10i1.2482

Abstract

The robots pay important role in all parts of our life. Hence, the modeling of the robot is essential to develop the performance specification. Robot model of six degree of freedom (6DoF) manipulator implemented numerically using model-based technique. The kinematic analysis and simulation were studied with Inverse kinematics of the robot manipulator through Denevit and Hartenberg method. Matrix transformation method is used in this work in order to separate joint variables from kinematic equations. The finding of the desired configuration is obtained precisely in all motion trajectory along the end-effector path. MATLAB/SIMULINK with R2018b is used for the implementation of the model-based robot system. Simulation results showed that the robot rinks follow their references smoothly and precisely and ensure the effectiveness of direct kinematic algorithm in the analysis and control of the robotic field.
Computer control of teaching enhancement by communication networked Nada N. Tawfeeq; Mehdi J. Marie; Khalaf S Gaeid
Indonesian Journal of Electrical Engineering and Computer Science Vol 18, No 2: May 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v18.i2.pp736-744

Abstract

Enhancement of teaching and education is crucial. This enhancement is rapidly improved through combining communication and technology resulting in various benefits (particularly the wireless Technologies (WT)). Such combination encourages lecturers to meet the worldwide demand for changing traditional teaching techniques to technology-based methods. Wireless system networks (WSNs) represent systems of smart devices that arelinked wirelessly. In addition, these devices are characterized by having a bandwidth of bounded communication, abilities of sensing and computation. For performing operations of control, this system employs a Flywheel Position Control System (FW PCS) as a plant node. This study utilizes the True Time 1.5 MATLAB/Simulink platform for simulating and implementing the WSN mathematical model with wireless networks. The simulation is carried out between plant nodes and controller using the IEEE 802.15.4 standard (also called ZigBee) via protocols of Wi-Fi. The suggested E-learning model comprises a set of properties that can encourage and enhance the level of students in various learning purposes and stages. 
Co-Authors Asaad F Nashee Ibrahim A. Ahmed Mehdi J. Marie Mohammed H. Dekheel Nada N. Tawfeeq