Kinematic Analysis and Validation of an Industrial Robot Manipulator

Abstract

Robot kinematics deals with traits of redundancy, joint limitation, collision avoidance and singularity manifolds. Hence, kinematic analysis plays a vital role in the positioning task of a robot manipulator. This paper discusses the kinematic analysis to study and synthesize the motion of an ABB make IRB 1200 6DOF Industrial Robot Manipulator. The forward kinematic solution is calculated using DH parameters obtained from the main dimensions of the robot and its inverse kinematics is calculated purely algebraically. The results obtained are validated using ABB's official software, RobotStudio. The experimental studies are also done to verify the kinematic model developed.