English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

This chapter presents the study and modelling of KR 6 KUKA Robot, of the Robotics Laboratory, Federal University of Rio de Janeiro, see fig 1. The chapter shows the CAD model (Computer Aided Design), the direct kinematics, the inverse kinematics and the inverse dynamical model. The direct kinematic is based in the use of homogeneous matrix. The inverse kinematics uses the quadratic equations model. The dynamical model is based on the use of Euler-Lagrange equations, using the D-H (Denavit-Hartenberg) algorithm and taking into account the inertia tensor, which was found with help of CAE tools (Computer Aided Engineering), On the other hand the Jacobian of robot manipulator is present, it‘s necessary for the kinematic control. The chapter finishes with the implementation of the inverse kinematic in one parallel processing platform and analyzes its performance. Fig. 1. KR 6 KUKA Robot, Robotics Laboratory, Federal University of Rio de Janeiro UFRJ.

Kinematical and Dynamical Models of KR 6 KUKA Robot, Including the Kinematic Control in a Parallel Processing Platform