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All Journal IAES International Journal of Robotics and Automation (IJRA)
Salem, Yasser
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Automotive Engineering Electrical & Electronics Engineering

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Position and orientation analysis of Jupiter robot arm for navigation stability Shalash, Omar; Sakr, Adham; Salem, Yasser; Abdelhadi, Ahmed; Elsayed, HossamEldin; El-Shaer, Ahmed
IAES International Journal of Robotics and Automation (IJRA) Vol 14, No 1: March 2025
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v14i1.pp1-10

Abstract

Jupiter robot has made a great impact in the educational field with its support for autonomous navigation, visual perception, and many other features from its artificial intelligence platform's learning box. This study undertakes a kinematic model design of Jupiter's arm to aid the robot's motion stability. This process involved the determination of a homogeneous transformation matrix, followed by the determination of orientation, position, and Euler angles. Ultimately, the homogeneous transformation matrix was successfully derived, and the simplification of direct kinematic matrices was achieved. Consequently, the kinematic analysis for Jupiter's arm was established using the position Denavit–Hartenberg method, orientation, and Euler angles, proving to be valuable in the context of this research.
Co-Authors Abdelhadi, Ahmed El-Shaer, Ahmed Elsayed, HossamEldin Sakr, Adham Shalash, Omar