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Analysis of Open Architecture 6R Robot Forward and Inverse Kinematics Adaptive to Structural Variations

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  • Chong Wang
  • Dongxue Liu
  • Qun Sun
  • Tong Wang

Abstract

This paper presents a kinematic analysis for an open architecture 6R robot controller, which is designed to control robots made by domestic manufactures with structural variations. Usually, robot kinematic studies are often introduced for specific robot types, and therefore, difficult to apply the kinematic model from one to another robot. This study incorporates most of the robot structural variations in one model so that it is convenient to switch robot types by modifying model parameters. By combining an adequate set of parameters, the kinematic models, especially the inverse kinematics, are derived. The kinematic models are proved to be suitable for many classic industrial robot types, such as Puma560, ABB IRB120/1600, KAWASAKI RS003N/RS010N, FANUC M6iB/M10iA, and therefore be applicable to those with similar structures. The analysis and derivation of the forward and inverse kinematic models are presented, and the results are proven to be accurate.

Suggested Citation

  • Chong Wang & Dongxue Liu & Qun Sun & Tong Wang, 2021. "Analysis of Open Architecture 6R Robot Forward and Inverse Kinematics Adaptive to Structural Variations," Mathematical Problems in Engineering, Hindawi, vol. 2021, pages 1-11, March.
    • Handle: RePEc:hin:jnlmpe:4516109
    DOI: 10.1155/2021/4516109
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