Open AccessKinematic modeling of a 6R industrial robot
Author(s) -
Mariana Rațiu,
Alexandru Rus,
Monica Loredana Balas
Publication year - 2019
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/568/1/012021
Subject(s) - revolute joint , inverse kinematics , kinematics , trajectory , robot end effector , robot kinematics , robot , computer science , motion (physics) , process (computing) , industrial robot , control theory (sociology) , inverse , control engineering , engineering , artificial intelligence , simulation , mathematics , mobile robot , physics , geometry , classical mechanics , control (management) , astronomy , operating system
In this paper, we present the process of kinematic modeling and simulation, in ADAMS MBS of MSC software, of an articulated robot with six revolute joints, through direct and inverse kinematics. First, by using the STEP function, we define a spatial trajectory of the end effector, and, through inverse kinematics, we determine the motion laws of the six revolute joints. Then, we apply the inverse process on another virtual model of the same robot, by imposing the motion laws to the joints, to obtain the desired trajectory of the end effector, through direct kinematics. This work is a small part of our research regarding modeling and optimization of the industrial robots’ motion.