A JAVA CLIENT-SERVER MODEL TO SOLVE THE FORWARD AND THE INVERSE ROBOT KINEMATICS

Tiberiu Alexandru ANTAL

Abstract


The paper describes a client-server model that can be used to solve the forward and the reverse kinematics of robot over the Internet. The client sends over the Internet a request coded in a string, the server decodes the request to find the required demand, extracts the parameters for which the solution is required, solves the request under the given conditions and sends the response back to the client. The implementation is done in the case of a 2R serial robot with two degrees of freedom along with all the numerical algorithms required to obtain the proposed solutions. Results can be viewed numerically or graphically by interfacing Java with AutoCAD and Canvas X.

 

Key words: client, forward kinematics, inverse kinematics, java, robot, server.



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References


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