Kinematic and Dynamic Analysis of an Industrial Six-Axis Robotic Manipulator

EasyChair Preprint 1748

Abstract

Industrial robots are the most widely manufactured and used types of robots in the production sector. To achieve a high degree of performance, various parameters and characteristics of robots should be known. Nowadays various tools are used for simulation, modeling, and analysis of a robot to assist in the enhancement and improvement of the robotic operations. The first objective of this article is to derive the complete (forward and inverse) kinematic and dynamic model of a 6DoF robotic manipulator through both analytical and software-numeric approaches. The second objective is to study the results of the combination of investigative tools across different domains to perform the same analysis such as 3D CAD Modelling, kinematic analysis using Robotic Toolbox in MATLAB and dynamic analysis using Robo-Analyzer. Hence, the novelty of this research lies in plotting a complete analysis of any robotic manipulator that can be easily derived from the specific manipulator used here for ease of explanation.

Keyphrases: Denavit-Hartenberg parameters, Forward kinematic model, Homogeneous transformation matrix, Robotic Manipulator, dynamic analysis, forward kinematic analysis, industrial robots, inverse dynamic, inverse kinematic model, kinematic analysis, modeling

@booklet{EasyChair:1748,
  author    = {Ashwin Misra and Ghanvir Singh},
  title     = {Kinematic and Dynamic Analysis of an Industrial Six-Axis Robotic Manipulator},
  howpublished = {EasyChair Preprint 1748},
  year      = {EasyChair, 2019}}