Cholewa 2016 IOP Conf. Ser. Mater. Sci. Eng. 145 052001

IOP Conference Series: Materials Science and Engineering
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- Numerical model of Fanuc AM100iB robot
Verification of forward kinematics of the numerical A Cholewa, J wider and A Zbilski
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Fanuc AM100iB robot
A Cholewa, J wider and A Zbilski
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ModTech International Conference - Modern Technologies in Industrial Engineering IV IOP Publishing
IOP Conf. Series: Materials Science and Engineering 145 (2016) 052001 doi:10.1088/1757-899X/145/5/052001
Verification of forward kinematics of the numerical and

analytical model of Fanuc AM100iB robot
A Cholewa1, J Świder2, A Zbilski3

1,2
Silesian University of Technology, Faculty of Mechanical Engineering, Institute of
Engineering Processes Automation and Integrated Manufacturing Systems,
Konarskiego 18A, 44-100 Gliwice, Poland
3
DRÄXLMAIER Group, Engineering Department, Wincentego Pola 21, 44-100,
Gliwice, Poland
Abstract. The article presents the verification of forward kinematics of Fanuc AM100iB robot.
The developed kinematic model of the machine was verified using tests on an actual robot
model. The tests consisted in positioning the robot operating in the mode of controlling the
values of natural angles in selected points of its workspace and reading the indications of the
coordinate values of the TCP point in the robot's global coordinate system on the operator
panel. Validation of the model consisted of entering the same values of natural angles that were
used for positioning the robot in its inputs and calculating the coordinate values of the TCP of
the machine's CAE model, and then comparing the results obtained with the values read. These
results are the introduction to the partial verification of the dynamic model of the analysed
device.
1. Introduction
The complexity and variety of components forming a part of robotic production cells causes that
already at the stage of their design it becomes necessary to develop models depicting various aspects
of their construction and operation. Advanced robotic manufacturing systems are an integral part of
developing manufacturing companies, both those operating in the segment of small and medium-sized
enterprises as well as large corporations. Robotic manufacturing systems enable efficient use of both
human resources as well as the machinery, thus contributing to an increase in production flexibility,
improving the quality and quantity of production and environmental protection. Designing robotic
manufacturing cells forces the search for such engineering solutions, which will contribute in a
maximum extent to the efficient use of machinery and equipment, as well as to the improvement of the
energy-efficiency of the entire system [2-6].
2. Tested object
The subject of discussion is an industrial robot Fanuc AM 100iB with six degrees of freedom and
spherical workspace. This article assumes orientations of the local coordinate systems as shown in Fig.
1. This system results from the directions of rotation adopted in the actual robot, and from the
modified Denavit-Hartenberg notation (DH) [1]. The corresponding values of the DH parameters and
listed in Table 1.
Content from this work may be used under the terms of the Creative Commons Attribution 3.0 licence. Any further distribution
of this work must maintain attribution to the author(s) and the title of the work, journal citation and DOI.
Published under licence by IOP Publishing Ltd 1
Figure 1. Tested object.
Table 1. Denavit-Hartenberg parameters.
Nr qi i li i
1. q1 l1,1  l1,3 l1, 2 -90
 
2.  q2   l2,1
 2 0 180
3. q3 l3, mod1
0 -90
4. q4  l4,1 0 90
5. q5  l5,1, mod 2 0 -90
6. q6  l6, z l 6, x l6, y 
T
180
Using the classical algorithm of the analysed notation, a kinematic model of the robot was developed
in Matlab Simulink software. The model of the machine developed was verified using appropriate
tests. The tests consisted in positioning the robot operating in the mode of controlling the values of
natural angles in selected points of its workspace and reading the indications of the coordinate values
of the TCP point in the robot's global coordinate system on the operator panel. Validation of the model
consisted of entering the same values of natural angles that were used for positioning the robot in its
inputs and calculating the coordinate values of the TCP of the machine's CAE model, and then
comparing the results obtained with the values read (tables 2-13). In fact, several tests were conducted,
and due to the fact that the number of pages of the article is limited - only selected experiments are
presented in this paper.
In any case, the coordinate values of the TCP point of the robot's CAE model coincide with the
coordinate values of the TCP point of the tested Fanuc AM100iB robot.
2
Table 2. Validation of the kinematic model. Test No. 1

Set values
J1 J2 J3 J4 J5 J6
60 -35 40 55 80 -45
Control system
X Y Z
24.980 204.608 1017.843
CAE model of the robot
X Y Z
24.980 204.608 1017.843

Set values
J1 J2 J3 J4 J5 J6
-60 60 -40 -55 80 135
Control system
X Y Z
660.865 -983.311 -73.143
X Y Z
660.865 -983.311 -73.143

Set values
J1 J2 J3 J4 J5 J6
-60 -35 40 55 80 0
Control system
X Y Z
24.980 204.608 1017.843
X Y Z
24.980 204.608 1017.843

Set values
J1 J2 J3 J4 J5 J6
0 -35 0 55 0 0
Control system
X Y Z
520.854 0 591.491
X Y Z
520.854 0 591.491
3

Set values
J1 J2 J3 J4 J5 J6
60 -35 40 55 0 0
Control system
X Y Z
144.649 250.539 1027.689
X Y Z
144.649 250.539 1027.689

Set values
J1 J2 J3 J4 J5 J6
-60 -60 -40 -55 0 0
Control system
X Y Z
640.808 -1109.912 -82.989
X Y Z
640.808 -1109.912 -82.989

Set values
J1 J2 J3 J4 J5 J6
-60 -35 40 0 0 0
Control system
X Y Z
144.649 250.539 1027.689
X Y Z
144.649 250.539 1027.689

Set values
J1 J2 J3 J4 J5 J6
-60 60 -40 0 0 0
Control system
X Y Z
640.808 -1109.912 -82.989
X Y Z
640.808 -1109.912 -82.989
4

Set values
J1 J2 J3 J4 J5 J6
-60 -35 0 0 0 0
Control system
X Y Z
260.427 451.073 591.491
X Y Z
260.427 451.073 591.491

Set values
J1 J2 J3 J4 J5 J6
-60 60 0 0 0 0
Control system
X Y Z
692.308 -1199.112 400.000
X Y Z
692.308 -1199.112 400.000

Set values
J1 J2 J3 J4 J5 J6
-60 0 40 0 0 0
Control system
X Y Z
316.721 548.578 1136.198
X Y Z
316.721 548.578 1136.198

Set values
J1 J2 J3 J4 J5 J6
-60 0 -40 0 0 0
Control system
X Y Z
381.000 -659.912 217.011
X Y Z
381.000 -659.912 217.011
5
3. Conclusions
The input data for the model were the value of geometric parameters, obtained using their direct
recording in the tested machine, during the execution of selected tasks. Using a numerical model, the
behaviour of an actual machine was reconstructed. Numerical calculations fully agree with the actual
reading of coordinates and orientation of the robot manipulator's member in space. The developed
numerical model was used to build a dynamic model of the analysed robot.
4. References
[1] Craig J., 2005 Introduction to Robotics Mechanics and Control, Pearson Education
Incorporated, pp. 62-100, USA.
[2] Dzitkowski T and Dymarek A 2015 Method of active and passive vibration reduction of
synthesized bifurcated drive systems of machines to the required values of amplitudes J.
Vibroeng. 17/4 pp 1578-1592.
[3] Dymarek A and Dzitkowski T 2013 Passive reduction of system vibrations to the desired
amplitude value J. Vibroeng.15/3 pp 1354-1364.
[4] Sękala A, Ćwikła G, Kost G 2015 The role of multi-agent systems in adding functioning of
manufacturing robotized cells IOP Conf. Series: Materials Science and Engineering 95
012097.
[5] Sękala A, Gwiazda A, Foit K, Banaś W, Hryniewicz P, Kost G 2015 Agent-based models in
robotized manufacturing cells designing IOP Conf. Series: Materials Science and
Engineering 95 012106.
[6] Sękala A, Kost G, Dobrzańska-Danikiewicz A, Banaś W, Foit K 2015 The distributed agent-
based approach in the e-manufacturing environment IOP Conf. Series: Materials Science
and Engineering 95 012134.

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PAPER • OPEN ACCESS Related content

This content was downloaded from IP address 180.253.195.19 on 27/06/2019 at 09:56

Verification of forward kinematics of the numerical and

A Cholewa1, J Świder2, A Zbilski3

Figure 1. Tested object.

Table 1. Denavit-Hartenberg parameters.

Table 2. Validation of the kinematic model. Test No. 1

Table 3. Validation of the kinematic model. Test No. 2

Table 4. Validation of the kinematic model. Test No. 3

Table 5. Validation of the kinematic model. Test No. 4

Table 6. Validation of the kinematic model. Test No. 5

Table 7. Validation of the kinematic model. Test No. 6

Table 8. Validation of the kinematic model. Test No. 7

Table 9. Validation of the kinematic model. Test No. 8

Table 10. Validation of the kinematic model. Test No. 9

Table 11. Validation of the kinematic model. Test No. 10

Table 12. Validation of the kinematic model. Test No. 11

Table 13. Validation of the kinematic model. Test No. 12

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