Kinematic Analysis and Simulation
of Industrial Robot Based
on RoboAnalyzer
Amit Talli and Arunkumar C. Giriyapur
Abstract In this paper, the kinematic analysis of a six-degree-of-freedom (6-DOF)
industrial robot is presented. A six-degree-of-freedom industrial robot is widely
used for welding, painting, pick and place, and packaging applications. The forward
and inverse kinematic analysis based on Denavit–Hartenberg (D-H) parameters is
performed by using RoboAnalyzer tool. RoboAnalyzer is a visualization tool used
for learning and teaching the concepts of industrial robots. The forward and inverse
kinematic analysis depends upon the joint-link parameters of the robot arm. This
paper focuses on the development of kinematic equations for an industrial robot. Two
trial tests were conducted for different joint variables to verify the position of the
end-effector of the robot arm. The results obtained from forward kinematic equations
are compared with simulation data provided by the RoboAnalyzer. The simulation
results verify the validity of the developed kinematic equations. Furthermore, the
inverse kinematic module of the RoboAnalyzer is used to generate a possible set of
solutions for a specified position of the end-effector.
Keywords Denavit–Hartenberg · RoboAnalyzer · Kinematic analysis ·
Visualization
1 Introduction
Robot kinematics deals with the motion analysis and its derivatives without considering forces or torque causing the motion [1]. The displacement, velocity, and acceleration of all the links are analyzed under robot kinematics, excluding forces causing
the movement. The kinematic model of the robot arm establishes the relation between
the position and orientation of the tool or end-effector. The kinematics of the robot is
split into two problems as forward and inverse kinematics. The forward kinematics
depends upon the joint variables, and it refers to the finding of position values of the
end-effector. The inverse kinematics depends upon the position values, and it refers
A. Talli (B) · A. C. Giriyapur
Automation and Robotics, KLE Technological University, Hubli 580031, India
e-mail: amit@kletech.ac.in
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2021
A. K. Parwani et al. (eds.), Recent Advances in Mechanical Infrastructure,
Lecture Notes in Intelligent Transportation and Infrastructure,
https://doi.org/10.1007/978-981-33-4176-0_40
473
of Industrial Robot Based
on RoboAnalyzer
Amit Talli and Arunkumar C. Giriyapur
Abstract In this paper, the kinematic analysis of a six-degree-of-freedom (6-DOF)
industrial robot is presented. A six-degree-of-freedom industrial robot is widely
used for welding, painting, pick and place, and packaging applications. The forward
and inverse kinematic analysis based on Denavit–Hartenberg (D-H) parameters is
performed by using RoboAnalyzer tool. RoboAnalyzer is a visualization tool used
for learning and teaching the concepts of industrial robots. The forward and inverse
kinematic analysis depends upon the joint-link parameters of the robot arm. This
paper focuses on the development of kinematic equations for an industrial robot. Two
trial tests were conducted for different joint variables to verify the position of the
end-effector of the robot arm. The results obtained from forward kinematic equations
are compared with simulation data provided by the RoboAnalyzer. The simulation
results verify the validity of the developed kinematic equations. Furthermore, the
inverse kinematic module of the RoboAnalyzer is used to generate a possible set of
solutions for a specified position of the end-effector.
Keywords Denavit–Hartenberg · RoboAnalyzer · Kinematic analysis ·
Visualization
1 Introduction
Robot kinematics deals with the motion analysis and its derivatives without considering forces or torque causing the motion [1]. The displacement, velocity, and acceleration of all the links are analyzed under robot kinematics, excluding forces causing
the movement. The kinematic model of the robot arm establishes the relation between
the position and orientation of the tool or end-effector. The kinematics of the robot is
split into two problems as forward and inverse kinematics. The forward kinematics
depends upon the joint variables, and it refers to the finding of position values of the
end-effector. The inverse kinematics depends upon the position values, and it refers
A. Talli (B) · A. C. Giriyapur
Automation and Robotics, KLE Technological University, Hubli 580031, India
e-mail: amit@kletech.ac.in
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2021
A. K. Parwani et al. (eds.), Recent Advances in Mechanical Infrastructure,
Lecture Notes in Intelligent Transportation and Infrastructure,
https://doi.org/10.1007/978-981-33-4176-0_40
473