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vivekdeshpande@gcet.ac.in
2
pmgeorge02@yahoo.com
I. INTRODUCTION
The mathematical modeling of robot kinematics is
motivated by the complexity of robotic systems,
which possess highly nonlinear characteristics. The
kinematic models are needed for off-line and on-line
program generation and for tracking functional
trajectories. Since the computational procedures
strongly depend of the formulation of the equations
specifying robot kinematics, efficient formulations are
of crucial importance. Inverse kinematics modeling
has been one of the main problems in robotics
research. The most popular method for controlling
robotic arms is still based on look-up tables that are
usually designed in a manual manner [1-3].
478
i-1
Ti
C i S iC i S iS i aiC i
S i C iC i C iS i aiS i
0
S i
C i
di
0
0
1
0
T5 =
S 234C 5
S 234 S 5
C 234
C 1(d 5 a 3C 23 a 2C 2 a1)
0
0
0
1
nx ox ax
ny oy ay
Te =
nz oz az
0 0 0
px
py
pz
Joint
i
1
2
3
4
5
i
(deg)
/2
0
0
/2
0
ai
(mm)
101.25
220
220
0
0
di
(mm)
334.25
0
0
0
137.35
i
(deg)
38.15o
-30o
45o
-63.54o
0o
(1)
(2)
(3)
Operating
range
-155o to +155o
-35o to +130o
-130o to +130o
-130o to +130o
-570o to +570o
479
(13)
s2 =
(C 1 px S 1 py S 234 d 5)(a 3 S 3) ( pz C 234d 5)(a 3C 3 a 2)
(a 3C 3 a 2)2 S 3 2 a 3 2
(14)
2 = tan-1(s2/c2)
(15)
Position
Values
px
py
pz
For the known values of ax, ay & az, we can find 234.
4 = 234 - 2 - 3
(17)
T5 Values
(mm)
315.48
247.88
190.27
Measured
Values (mm)
315.61
247.92
190.25
Difference
(mm)
0.13
0.04
-0.02
III. RESULT
IV. CONCLUSION
px
(mm)
169.04
315.48
py
(mm)
0
247.88
pz
(mm)
504.33
190.27
Pitch(4)
o
-63.54
-63.54o
Roll(5)
0.0o
0.0o
480
References
[1] R. D. Klafter, T. A. Chmielewski and M. Negin. (1989).
Robotic Engineering: An Integrated Approach. Prentice Hall.
[9] Dr. Anurag Verma & Mehul Gor (2010). Forward Kinematics
Analysis of 6 DOF Arc Welding Robot. International Journal
of Engineering Science and Technology, Vol. 2(9), pp 46824686.
481