Modelling a 6-dof manipulator using Matlab software

Adam Barylski; Norbert Piotrowski

Modelling a 6-dof manipulator using Matlab software

Abstract

This paper presents an alternative approach to modelling a revolute robot. The manipulator in question is Kuka KR 16-2. The main problem in robot modelling is a kinematic analysis. The revolute robot consist of six rotary joints (6-DOF) with base, shoulder, elbow and wirst. The kinematics problem is defined as a transformation from the cartesian space to the joint space. The Denavit- Hartenberg (D-H) model of representation was used to model links and joints in this study. Both forward and inverse kinematics solutions for this manipulator were presented. The kinematic equations presented have been implemented in Matlab software. The graphical model of Kuka KR 16-2 was shown and possibilities of modelling in Matlab were described.

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Category:: Articles
Type:: artykuły w czasopismach recenzowanych i innych wydawnictwach ciągłych
Published in:: Archiwum Technologii Maszyn i Automatyzacji no. 34, pages 45 - 55,
ISSN: 1233-9709
Language:: English
Publication year:: 2014
Bibliographic description:: Barylski A., Piotrowski N.: Modelling a 6-dof manipulator using Matlab software// Archiwum Technologii Maszyn i Automatyzacji. -Vol. 34., nr. 3 (2014), s.45-55
Verified by:: Gdańsk University of Technology