A detailed kinematic analysis of a commercial grade articulated industrial robot

Randika K.W. Vithanage*, Colin S. Harrison, Anjali K.M. DeSilva

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Due largely to the growing emphasis in academic research on industrial robots and their applications, it is often required by researchers to understand and examine the kinematic aspect of such robots. Obtaining both forward and inverse kinematic models of a given industrial robot could be a tedious and intricate task. Therefore, this paper presents a detailed kinematic analysis of a 6 axis industrial robot that commonly found in present-day industry and research laboratories. The proposed kinematic solutions have been validated against the simulation software provided by robot's supplier and an error analysis has been done to ensure the accuracy.
Original languageEnglish
Title of host publication2018 International Conference on Computing, Electronics & Communications Engineering (iCCECE)
Number of pages6
ISBN (Print)9781538649046
Publication statusPublished - 7 Mar 2019


  • forward kinematics
  • inverse kinematics
  • serial manipulator


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