476
A. Talli and A. C. Giriyapur
Fig. 3 KUKA KR5 arc
Table 1 Joint-link parameters for KUKA KR5 Arc robot
Link
d i (m)
θ i (deg)
a i (m)
α i (deg)
Range (deg)
1
0.4
θ 1
0.18
90
±155
2
0.135
θ 2
0.6
180
+65 to −180
3
0.135
θ 3
0.12
−90
+158 to −15
4
0.62
θ 4
0
90
−350 to 350
5
0
θ 5
0
−90
±130
6
0.115
θ 6
0
0
±350
T =
⎡
⎢
⎢
⎣
cos(θ ) − sin(θ ) cos(α) sin(θ ) cos(α) a cos(θ )
sin(θ ) cos(θ ) cos(α) − cos(θ ) cos(α) a sin(θ )
0
s i n (α)
cos(α)
d
0
0
0
1
⎤
⎥
⎥
⎦
(2)