482
A. Talli and A. C. Giriyapur
presented by the RoboAnalyzer tool for 6-DOF manipulator arm. The inverse kinematics for two-link or three-link planar manipulator can be derived by trigonometry,
but as the number of link increases then it leads to complications. Inverse kinematics
is very useful for planning the trajectory of the robot arm. There are also several
methods or algorithms for determining the probable or number of ways to reach a
specified pose. However, the method requires an algorithm to generate multiple ways
to reach a specified position. The RoboAnalyzer is capable of generating the inverse
kinematics from 2-DOF planar to a 6-DOF spatial industrial manipulator. There are
some predefined robots included in the library of inverse kinematics module of RoboAnalyzer, which allows quick access to the robot arm such as MTAB mini, MTAB
Aristo, KUKA KR5, and 6R generic manipulator. The position vector P = [0.915
0 1.12]
T from trial one is specified in RoboAnalyzer, and other link parameters of
KUKA KR5 Arc is entered in IKin module. The tool displays eight solutions in
terms of joint angles, as shown in Fig. 7. From Fig. 7 it is evident that the solution 8
displays the joint value as, q = [0 90 0 0 0 0]
T .
6 Conclusion
In this paper, the D-H model of KUKAR KR5 Arc robot is established analytically.
The forward and inverse solutions of the robot are calculated by RoboAnalyzer software. The position of the end-effector for different joint variables such as q = [0 90
0 0 0 0]
T and q = [40 90 60 20 10 350]
T is determined analytically and compared
with the simulation results. The analytical results compared with the RoboAnalyzer
are found to be similar/consistent and verifies the developed equations. The inverse
kinematic analysis in RoboAnalyzer is carried out to determine the possible combination of the joint values to reach a specified position vector, P = [0.915 0 1.12]
T .
The RoboAnalyzer displayed eight possible ways to get the specified position. The
inverse kinematics solution displayed by the RoboAnalyzer is found to be consistent and correct. The RoboAnalyzer tool has dynamic analysis option which can be
explored for further research in robot dynamics.
References
1. Nguyen MT, Yuan C, Huang JH (2019) Kinematic analysis of a 6-DOF robotic arm. Presented
at the. https://doi.org/10.1007/978-3-030-20131-9_292
2. Talli A (2015) Forward kinematic analysis, simulation & workspace tracing of anthropomorphic
robot manipulator by using MSC. ADAMS Int J Innov Res Sci Eng Technol 04. https://doi.
org/10.15680/IJIRSET.2015.0401009
3. Ratiu M, Rus A, Balas ML (2019) Kinematic modeling of a 6R industrial robot. IOP Conf Ser
Mater Sci Eng 568. https://doi.org/10.1088/1757-899X/568/1/012021
4. Guida R, Simone MC, De Daši´ c P, Guida D (2019) Modeling techniques for kinematic analysis
of a six-axis robotic arm. IOP Conf Ser Mater Sci Eng 568:0–6. https://doi.org/10.1088/1757-
A. Talli and A. C. Giriyapur
presented by the RoboAnalyzer tool for 6-DOF manipulator arm. The inverse kinematics for two-link or three-link planar manipulator can be derived by trigonometry,
but as the number of link increases then it leads to complications. Inverse kinematics
is very useful for planning the trajectory of the robot arm. There are also several
methods or algorithms for determining the probable or number of ways to reach a
specified pose. However, the method requires an algorithm to generate multiple ways
to reach a specified position. The RoboAnalyzer is capable of generating the inverse
kinematics from 2-DOF planar to a 6-DOF spatial industrial manipulator. There are
some predefined robots included in the library of inverse kinematics module of RoboAnalyzer, which allows quick access to the robot arm such as MTAB mini, MTAB
Aristo, KUKA KR5, and 6R generic manipulator. The position vector P = [0.915
0 1.12]
T from trial one is specified in RoboAnalyzer, and other link parameters of
KUKA KR5 Arc is entered in IKin module. The tool displays eight solutions in
terms of joint angles, as shown in Fig. 7. From Fig. 7 it is evident that the solution 8
displays the joint value as, q = [0 90 0 0 0 0]
T .
6 Conclusion
In this paper, the D-H model of KUKAR KR5 Arc robot is established analytically.
The forward and inverse solutions of the robot are calculated by RoboAnalyzer software. The position of the end-effector for different joint variables such as q = [0 90
0 0 0 0]
T and q = [40 90 60 20 10 350]
T is determined analytically and compared
with the simulation results. The analytical results compared with the RoboAnalyzer
are found to be similar/consistent and verifies the developed equations. The inverse
kinematic analysis in RoboAnalyzer is carried out to determine the possible combination of the joint values to reach a specified position vector, P = [0.915 0 1.12]
T .
The RoboAnalyzer displayed eight possible ways to get the specified position. The
inverse kinematics solution displayed by the RoboAnalyzer is found to be consistent and correct. The RoboAnalyzer tool has dynamic analysis option which can be
explored for further research in robot dynamics.
References
1. Nguyen MT, Yuan C, Huang JH (2019) Kinematic analysis of a 6-DOF robotic arm. Presented
at the. https://doi.org/10.1007/978-3-030-20131-9_292
2. Talli A (2015) Forward kinematic analysis, simulation & workspace tracing of anthropomorphic
robot manipulator by using MSC. ADAMS Int J Innov Res Sci Eng Technol 04. https://doi.
org/10.15680/IJIRSET.2015.0401009
3. Ratiu M, Rus A, Balas ML (2019) Kinematic modeling of a 6R industrial robot. IOP Conf Ser
Mater Sci Eng 568. https://doi.org/10.1088/1757-899X/568/1/012021
4. Guida R, Simone MC, De Daši´ c P, Guida D (2019) Modeling techniques for kinematic analysis
of a six-axis robotic arm. IOP Conf Ser Mater Sci Eng 568:0–6. https://doi.org/10.1088/1757-