A Comparative Analysis of Kinematics of Industrial Robot KUKA KR 60–3 Using Scientific Computing Languages

摘要

In the field of robotics, there are kinematic analysis methods that are responsible for describing the positions and orientations of the end effectors, as well as the angles, velocities and trajectories of industrial robots; such techniques are: forward kinematics, inverse kinematics and velocity kinematics. For the solutions of these complex mathematical calculations, the use of scientific computing languages or programs is required; which more and more algorithms, libraries and complements are implemented, that achieve a reduction in programming hours and result in the creation of better solutions in areas of all kinds. For this reason, the kinematics of the Industrial Robot KUKA KR 60-3 was programmed in the languages and programs most used in scientific computing, with the aim of comparing the performance (real time) when carrying out symbolic and numerical analysis in said studies.