Forward and Inverse Kinematics Control of a Collaborative 6-DOF Robot for an Augmented Reality Educational System

Abstract

This research work describes the mathematical framework and development procedure for the implementation of the direct and inverse kinematics equations of a six degrees of freedom cobot under the Unity platform, which is used to generate the augmented reality version of the cobot; In the same way, the Vuforia library is also used to create the multiplatform application that can run on conventional computers or any portable electronic devices whit the Android system. Kinematic solutions for the techman® 6 DOF robot were not found in the literature, the direct and inverse kinematic control of the robot was achieved with the presented solution. The developed application was validated and verified for its intended use, that is educational and distance learning of robotics and virtual and augmented reality technologies.