Open AccessModeling techniques for kinematic analysis of a six-axis robotic arm
Author(s) -
Roberto Guida,
Marco Claudio De Simone,
Predrag Dašić,
Domenico Guida
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/568/1/012115
Subject(s) - kinematics , inverse kinematics , robotics , robot , robotic arm , arm solution , artificial intelligence , computer science , robot kinematics , robot calibration , trajectory , degrees of freedom (physics and chemistry) , control engineering , computer vision , control theory (sociology) , engineering , mobile robot , control (management) , physics , classical mechanics , quantum mechanics , astronomy
The purpose of this analysis is to evaluate the effectiveness of different modeling techniques for a COMAU six-axis robot arm. The robot manipulator represents one of the most used robots in the mechanical industry. For robots, with a high number of degrees of freedom, to obtain a kinematic model, Denavit-Hartemberg parameters allow representing geometric transformations in the Euclidean space through the minimum number of parameters. Furthermore, the use of detailed multibody models and the use of sophisticated tools like the Robotics Toolbox System, allow performing, in a very efficient way, inverse kinematic analysis and trajectory planning to control the robot move from one configuration to another.