This is an outdated version published on 2024-03-20. Read the most recent version.
Articles

Computing The Kinematics Study of a 6 DOF Industrial Manipulator Prototype By Matlab

Published:
2024-03-20
Author
Keywords
License

Copyright (c) 2020 Recent Innovations in Mechatronics

Creative Commons License

This work is licensed under a Creative Commons Attribution 4.0 International License.

How To Cite
Selected Style: APA
Saadah, A. (2024). Computing The Kinematics Study of a 6 DOF Industrial Manipulator Prototype By Matlab. Recent Innovations in Mechatronics, 7(1), 1-5. https://doi.org/10.17667/riim.2020.1/8.
Received 2020-05-22
Accepted 2020-08-17
Published 2024-03-20
Abstract

Since the mechanical parts in the robot are designed to do the movement, studying and analyzing the motion considered a primary issue that should be taken into consider when studying and designing the robot.

In this research 6-DOF sample of the industrial manipulator based on ABB IRB 4400 model had been studied. The mathematical model of manipulator is established by DH (Denavait Hartenberg) method. The forward kinematics was done using DH Parameters in order to get the final transformation matrix. The inverse kinematics was done using geometrical and analytical methods in order to get the end effector final position and direction by calculate Euler angles values.

Finally, the forward and inverse kinematics equations were computing by MATLAB to get angles, end effector, position, direction and Euler angles values.

The kinematics study and the arm movement’s equations were compered with the practical measurements to make sure it fulfills the desired purpose.     

References
[1] S. Shrivastava, "Forward Kinematics of Articulated Robotic Arm," International Journal of Research and Scientific Innovation (IJRSI), vol. IV, no. VIII, pp. 78-82, 2017.
[2] J. Iqbal, "Modeling and Analysis of a 6 DOF Robotic Arm," Canadian Journal on Electrical and Electronics Engineering, vol. 3, no. 6, pp. 300-306, 2012.
[3] Z. Hou, "Kinematics analysis and self - collision detection of Truss type multi-robot," in 52nd CIRP Conference on Manufacturing Systems, Shanghai, China, 2019.
[4] R. V. V. Petrescu, "Geometry and Inverse Kinematic at the MP3R Mobile Systems," Journal of Mechatronics and Robotics, vol. 1, no. 2, 2017.
[5] S. M. O. a. A. M. Djuric, "Fanuc Family Inverse Kinematics Modeling, Validation and," in SAE International, California, 2016.
[6] M. G. Krishnan, "Kinematic Analysis and Validation of an Industrial," in IEEE TENCON Conference, Kerala, 2019.
[7] Z. S. Jianyu Wang, "Inverse Kinematics of 6-DoF Robot Manipulator via Analytic Solution," in International Conference on Robotics and Biomimetics, Kuala Lumpur, Malaysia, 2018.
[8] F. Liu, "Kinematic analysis and simulation of a 3-DOF robotic," in IEEE International Conference on "Computational Intelligence and Communication Technology", Ghaziabad, 2017.
Database Logos