Workspace Analysis and Geometric Modeling of 6 DOF Fanuc 200IC Robot

摘要

In this paper, we propose a study of criteria for choosing the best solution among the solutions of the inverse geometric model of the 6 DOF robot arm, FANUC 200iC Lr Mate. Knowledge of these parameters can help us the control and the generation of motions without that the task will be redundant with a minimization of the execution time, the effort and energy consumed by actuators. For this, the solving of the inverse kinematics by an analytical method is necessary, and the Jacobian matrix give us the nonlinear equation for find the singular configurations. We validate our work by conducting a simulation software platform that allows us to verify the results of manipulation in a virtual reality environment based on VRML and Matlab software, integration with the CAD model.