Forward and inverse kinematics model for robotic welding process using KR-16KS KUKA robot

Dahari, M. and Tan, J.D. (2011) Forward and inverse kinematics model for robotic welding process using KR-16KS KUKA robot. Science. pp. 1-6. ISSN 1095-9203

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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.

Item Type: Article
Additional Information: You can e-mail to me for the full text of my jurnal at mahidzal@um.edu.my
Uncontrolled Keywords: Forward Kinematics; Inverse Kinematics; KUKA Robot; Robotic Arm; Robotic Welding Process
Subjects: T Technology > TS Manufactures
Divisions: Faculty of Engineering
Depositing User: Mr. Mohammed Salim Abd Rahman
Date Deposited: 10 Jul 2013 01:15
Last Modified: 06 Jan 2015 08:47
URI: http://eprints.um.edu.my/id/eprint/7005

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