Forward and inverse kinematics study of industrial robots taking into account constructive and functional parameter's modeling
Journal Title: Proceedings in Manufacturing Systems - Year 2015, Vol 10, Issue 4
Abstract
Forward and inverse kinematic studies of industrial robots (IR) have been developed and presented in a large number of papers. However, even general mathematic formalization is usually almost correct, (basically following up general Hartenberg - Denavit (H-D) conventions and associated homogenous transformation matrix), only few papers presents kinematic models ready to be directly implemented on a real scale industrial robot or as well able to evaluate kinematics behavior of a real scale IR specific model. That is usually due to some inconsistencies in modeling, the most frequently of these referring on: the incomplete formalization of the full set of constructive and functional parameters (that mandatory need to be considered in case of a specific real IR's model), avoidance of considering IR's specific design features, (as joint dimensions and links dimensions are) leading to wrongly locating the reference frames used for expressing homogenous coordinate transformations, as well as missing of the validation procedures able to check the correctitude of the mathematical models, previously to its implementing in a real scale IR's controller. That is why present paper shows first a completely new approach for IR's forward an inverse kinematics, in terms of IR's analytical modeling by taking into account the full set of IR's constructive and functional parameters of two different IR's models. Then, for both direct and inverse mathematical models complete symbolic formalization and full set of solutions for forward and inverse kinematics are presented for both IR types. In order to study mathematical models applicability on the real scale IR, two specific IR models were studied: an ABB serial-link open chain kinematics IR and a Fanuc serial-link closed chain kinematics IR. Numerical results were verified by cross validation using both analytically calculations results and by mean of a constrained 3D CAD model used to geometrically verify the results. The parametric form of the model elaborated in PTC Mathcad 14 allows a quick reconfiguration for other robot's models having similar configurations. Results can be also used for solving dynamics, path planning and control problems in case of real scale IR.
Authors and Affiliations
A. F. Nicolescu, F. M. Ilie, T. G. Alexandru
Keywords
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