Converting TCP to joints value of 6-DOF robot based on forward and inverse kinematic analysis

Abstract

This paper presents the technique to convert TCP(Tool Center Point) position of joints value from 6-DOF four bars link structure (FBLS) robot into 6-DOF direct link structure (DLS) robot. The technique proposed to achieve the robot replacement and introduce of new effective robot model for working in same task. The collected data in set of joint value from FBLS that are joint angle, joint length, end effect position, rotation and moving or working path are analyzed based on forward and inverse kinematic with DH (Denavit and Hartenbberg) Parameters. Then, convert and configure to new model of robot parameters that is DLS to work in the same task. This technique has been studied and simulated by using Matlab software. Effectiveness of the proposed technique is verified by simulation and experimental result.