A detailed kinematic analysis of a commercial grade articulated industrial robot

Randika Kosala Wathavana Vithanage; Colin S. Harrison; Anjali K. M. DeSilva

doi:10.1109/iCCECOME.2018.8659139

A detailed kinematic analysis of a commercial grade articulated industrial robot

Randika Kosala Wathavana Vithanage, Colin S. Harrison, Anjali K. M. DeSilva

Electronic And Electrical Engineering

Research output: Contribution to conference › Paper › peer-review

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 language	English
Pages	236-241
Number of pages	6
DOIs	https://doi.org/10.1109/iCCECOME.2018.8659139
Publication status	Published - 7 Mar 2019
Event	1st IEEE International Conference on Computing, Electronics and Communications Engineering, iCCECE 2018 - Southend, United Kingdom Duration: 16 Aug 2018 → 17 Aug 2018

Conference

Conference	1st IEEE International Conference on Computing, Electronics and Communications Engineering, iCCECE 2018
Country/Territory	United Kingdom
City	Southend
Period	16/08/18 → 17/08/18

Keywords

kinematics
robot kinematics
service robots
end effectors
mathematical model
forward kinematics
inverse kinematics
serial manipulator
industrial robots

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/iCCECOME.2018.8659139

Cite this

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title = "A detailed kinematic analysis of a commercial grade articulated industrial robot",

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.",

keywords = "kinematics, robot kinematics, service robots, end effectors, mathematical model, forward kinematics, inverse kinematics, serial manipulator, industrial robots",

author = "{Wathavana Vithanage}, {Randika Kosala} and Harrison, {Colin S.} and DeSilva, {Anjali K. M.}",

year = "2019",

month = mar,

day = "7",

doi = "10.1109/iCCECOME.2018.8659139",

language = "English",

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note = "1st IEEE International Conference on Computing, Electronics and Communications Engineering, iCCECE 2018 ; Conference date: 16-08-2018 Through 17-08-2018",

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Wathavana Vithanage, RK, Harrison, CS & DeSilva, AKM 2019, 'A detailed kinematic analysis of a commercial grade articulated industrial robot', Paper presented at 1st IEEE International Conference on Computing, Electronics and Communications Engineering, iCCECE 2018, Southend, United Kingdom, 16/08/18 - 17/08/18 pp. 236-241. https://doi.org/10.1109/iCCECOME.2018.8659139

A detailed kinematic analysis of a commercial grade articulated industrial robot. / Wathavana Vithanage, Randika Kosala; Harrison, Colin S.; DeSilva, Anjali K. M.
2019. 236-241 Paper presented at 1st IEEE International Conference on Computing, Electronics and Communications Engineering, iCCECE 2018, Southend, United Kingdom.

Research output: Contribution to conference › Paper › peer-review

TY - CONF

T1 - A detailed kinematic analysis of a commercial grade articulated industrial robot

AU - Wathavana Vithanage, Randika Kosala

AU - Harrison, Colin S.

AU - DeSilva, Anjali K. M.

PY - 2019/3/7

Y1 - 2019/3/7

N2 - 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.

AB - 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.

KW - kinematics

KW - robot kinematics

KW - service robots

KW - end effectors

KW - mathematical model

KW - forward kinematics

KW - inverse kinematics

KW - serial manipulator

KW - industrial robots

U2 - 10.1109/iCCECOME.2018.8659139

DO - 10.1109/iCCECOME.2018.8659139

M3 - Paper

SP - 236

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T2 - 1st IEEE International Conference on Computing, Electronics and Communications Engineering, iCCECE 2018

Y2 - 16 August 2018 through 17 August 2018

ER -

A detailed kinematic analysis of a commercial grade articulated industrial robot

Abstract

Conference

Keywords

UN SDGs

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