Modeling and Inverse Kinematics of Kuka Manipulator

Abstract

In this paper the focus will be on the kinematics and inverse kinematics modeling for seven degree’s of freedom Kuka manipulator robotic arm. Robot kinematics refers to the analytical study of the motion of a robot manipulator. Formulating the suitable kinematics models for a robot mechanism is very crucial for analyzing the behavior of industrial manipulators. The formulation of the problem is based on finding the D-H parameters of the arm. The inverse kinematics problem of the system is redundant. This problem has no general closed form solutions or analytical solutions for the 7-DOF manipulator. The DH convention method is used to form the kinematical equation of the resultant structure.