TY - JOUR N2 - Abstract This paper presents the problem of tracking the generated reference trajectory by the simulation model of a multi-DOF robot arm. The kinematic transformation between task space and joint configuration coordinates is nonlinear and configuration dependent. To obtain the solution of the forward kinematics problem, the homogeneous transformation matrix is used. A solution to the inverse kinematics is a vector of joint configuration coordinates calculated using of pseudoinverse Jacobian technique. These coordinates correspond to a set of task space coordinates. The algorithm is presented which uses iterative solution and is simplified by considering stepper motors in robot arm joints. The reference trajectory in Cartesian coordinate system is generated on-line by the signal generator previously developed in MS Excel. Dynamic Data Exchange communication protocol allows sharing data with Matlab-Simulink. These data represent the reference tracking trajectory of the end effector. Matlab-Simulink software is used to calculate the representative joint rotations. The proposed algorithm is demonstrated experimentally on the model of 7-DOF robot arm system. L1 - http://journals.pan.pl/Content/84406/PDF/8.pdf L2 - http://journals.pan.pl/Content/84406 PY - 2015 IS - No 4 DO - 10.1515/acsc-2015-0033 A1 - Krasňanský, Róbert A1 - Valach, Peter A1 - Soós, Dávid A1 - Zarbakhsh, Javad PB - Committee of Automatic Control and Robotics PAS DA - 2015[2015.01.01 AD - 2015.12.31 AD] T1 - Reference trajectory tracking for a multi-DOF robot arm UR - http://journals.pan.pl/dlibra/publication/edition/84406 T2 - Archives of Control Sciences ER -