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A consistent methodology for the development of inverse and direct kinematics of robust industrial robots

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Title: A consistent methodology for the development of inverse and direct kinematics of robust industrial robots

Authors: Ruthber Rodriguez Serrezuela, Miguel Angel Tovar Cardozo, Denicce Licht Ardila, Carlos Andres Cuellar Perdomo

Journal: ARPN Journal of Engineering and Applied Sciences

HEC Recognition History
Category From To
Y 2023-07-01 2024-09-30
Y 2022-07-01 2023-06-30
Y 2021-07-01 2022-06-30
X 2020-07-01 2021-06-30

Publisher: Khyber Medical College, Peshawar

Country: Pakistan

Year: 2018

Volume: 13

Issue: 1

Language: English

Categories
Control Systems (1276) Robotics (1073) Mechanical Engineering (4477) Kinematics (21) Industrial Automation (14)

Abstract

Our article contributes by presenting the mathematical foundation for offline programming of industrial robots oriented to the development of flexible manufacturing cells, the simulation of realistic robot that is approached by using the robot kinematics. For the implementation of the offline programming of a real industrial robot integrated in a flexible manufacturing cells, the model of direct kinematics, inverse kinematics and Jacobian is needed to obtain data of the industrial robot in its functions within the flexible manufacturing cells. This model is loaded as an additional module in modeling, simulation using MatLab software and programming software allowing to effectively check its results offline to enrich its content for future contributions.

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