Forward and inverse kinematics model for robotic welding process using KR-16KS KUKA robot
Document Type
Article
Publication Date
1-1-2011
Abstract
This paper aims to model the forward and inverse kinematics of a KUKA KR-16KS robotic arm in the application of a simple welding process. A simple welding task to weld a block onto a metal sheet is carried out in order to investigate the forward and inverse kinematics models of KR-16KS. A movement flow planning is designed and further developed into the KR-16KS programming. Eleven points of movement are studied for the forward kinematic modeling. A summary of calculation is obtained. A general D-H representation of forward and inverse matrix is obtained. This can be used in each of the welding operation movement based on KUKA KR-16KS robotic arm. A forward kinematic and an inverse kinematic aspect of KUKA KR-16KS is successfully modeled based on a simple welding task.
Keywords
Forward Kinematics, Inverse Kinematics, KUKA Robot, Robotic Arm, Robotic Welding Process
Divisions
fac_eng
Publication Title
Science
Publisher
American Association for the Advancement of Science
Event Title
Modeling, Simulation and Applied Optimization (ICMSAO), 2011 4th International Conference on
Additional Information
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