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

Abstract

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)
PublisherIEEE
Pages236-241
Number of pages6
ISBN (Print)978-1-5386-4904-6
DOIs
Publication statusPublished - 7 Mar 2019

Fingerprint

Industrial robots
Kinematics
Robots
Inverse kinematics
Research laboratories
Error analysis
Industry

Keywords

  • forward kinematics
  • inverse kinematics
  • serial manipulator

Cite this

Vithanage, R. K. W., Harrison, C. S., & DeSilva, A. K. M. (2019). A detailed kinematic analysis of a commercial grade articulated industrial robot. In 2018 International Conference on Computing, Electronics & Communications Engineering (iCCECE) (pp. 236-241). IEEE. https://doi.org/10.1109/iCCECOME.2018.8659139
Vithanage, Randika K.W. ; Harrison, Colin S. ; DeSilva, Anjali K.M. / A detailed kinematic analysis of a commercial grade articulated industrial robot. 2018 International Conference on Computing, Electronics & Communications Engineering (iCCECE). IEEE, 2019. pp. 236-241
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keywords = "forward kinematics, inverse kinematics, serial manipulator",
author = "Vithanage, {Randika K.W.} and Harrison, {Colin S.} and DeSilva, {Anjali K.M.}",
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Vithanage, RKW, Harrison, CS & DeSilva, AKM 2019, A detailed kinematic analysis of a commercial grade articulated industrial robot. in 2018 International Conference on Computing, Electronics & Communications Engineering (iCCECE). IEEE, pp. 236-241. https://doi.org/10.1109/iCCECOME.2018.8659139

A detailed kinematic analysis of a commercial grade articulated industrial robot. / Vithanage, Randika K.W.; Harrison, Colin S.; DeSilva, Anjali K.M.

2018 International Conference on Computing, Electronics & Communications Engineering (iCCECE). IEEE, 2019. p. 236-241.

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

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Vithanage RKW, Harrison CS, DeSilva AKM. A detailed kinematic analysis of a commercial grade articulated industrial robot. In 2018 International Conference on Computing, Electronics & Communications Engineering (iCCECE). IEEE. 2019. p. 236-241 https://doi.org/10.1109/iCCECOME.2018.8659139