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Kinematic Analysis Of Robot And Manipulator Arms

Author

Listed:
  • ATTILA OLASZ

    (University of Miskolc)

  • TAMÁS SZABÓ

    (University of Miskolc)

Abstract

Robots and manipulators are used to serve machine tools in automatic production systems. The inverse kinematic analyses are carried out by Denavit-Hartenberg parameters for a 4 DOF manipulator and a 6 DOF robot. The aim of the paper is to determine the angles of the joints of the robot and the manipulator for the control system. Using trigonometric functions of triangles and the cosine theorem, the functions of joint angles are derived in closed forms. A computer code has been developed to simulate the prescribed motions of the robot and the manipulator. The same paths are prescribed for both the manipulator and the robot in numerical examples. The joint angles are calculated for a work cycle. The computed curves are similar but not the same for the first three joints of the robot and manipulator.

Suggested Citation

  • Attila Olasz & Tamás Szabó, 2012. "Kinematic Analysis Of Robot And Manipulator Arms," Advanced Logistic systems, University of Miskolc, Department of Material Handling and Logistics, vol. 6(1), pages 63-68, December.
    • Handle: RePEc:pcz:alspcz:v:6:y:2012:i:1:p:63-68
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