Undergraduate Project Apr 2021 - Jun 2022
Table of Contents
Background
In this work, we will focus on solving the forward and inverse kinematics of a 6DOF industrial manipulator using DH parameter notation and Euler Method respectively.
The calculations are then validated using the Robotics Toolbox in MATLAB and RoboAnalyzer software.
Similarly trajectory planning is performed in Joint and Task space using different time scaling method like Trapezoidal, Cubic and Quintic methods.
Robot Design
IRB-6620 industrial manipulator was used for analysis. IRB-6620 is a 6 Degree-of-Freedon (DoF) robot containing 6 revolute joints. To model the robot using the robotics Toolbox in MATLAB, the following DH parameters are used -
DH parameters used for IRB-6620 Manipulator
Kinematic Analysis
Starting with Forward Kinematics, DH convention was followed to create the transformation matrices. The final tranformation matrix of end effector is shown below -
Analytical Solution of Forward Kinematics
Following that Inverse Kinematics is performed using the Pieper's approach in which the calculation is split into two separate problems - the first three, and the last three joints as shown below -
Algebric Solution of Inverse Kinematics
Dynamic Analysis
Before starting with the Dynamic Analysis, static velocities are calculated by defining the Jacobian Matrix of the robot.
Followed by that, we use MATLAB's Robotics Toolbox to calculate the inverse dynamics of the robot. In MATLAB inverseDynamics() function is used to calculate joint torque.
Results for a given initial and final configuration are shown -
Torque values for joints while the robot moves between start and goal configuration
Analysis Report
The complete Report containing the Kinematic and Dynamic Analysis -
Trajectory Planning
Trajectory planning using different time scaling methods are performed in MATLAB. Also a comparison between task and joint space planning is done, difference of which is shown -
Difference between Joint Space and Task Space trajectory planning
Joint Space Planning using Cubic Time Scaling
The complete Report containing the Trajectory planning analysis is shown -
