Robotic path planning and simulation by jacobian inverse for industrial applications

Abstract

Serial Robots used in Industrial applications such as continuous path welding, painting etc., require the end effector to have motion along a specific path. This paper is an attempt to find joint angles and simulate end effector path along three sample curves. KUKA KR5 Arc Robot software model and Jacobian inverse method is used. Programs are written in MATLAB with the help of Robotics Toolbox plug-in to define sample paths and calculate time stepwise sets of Joint angles while the end effector is desired to move along successive via points of the path. Jacobian and inverse method is used in this program and joint angles are written to a comma separated values file. This file containing the joint angles is input to a KUKA Robot model in RoboAnalyzer software and the end effector path is simulated. It is found in all the three cases that path has reduced deviation with increased step size. We propose that this method may be used to evaluate joint angles for any specific path by any Industrial robot controller on floor in real time applications.