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INVERSE KINEMATICS ANALYSIS OF A 5-AXIS RV-2AJ ROBOT MANIPULATOR

Mohammad Afif Ayob, Wan Nurshazwani Wan Zakaria, Jamaludin Jalani, Razali Tomari

Open publisher page 3 citations

Abstract

This paper presents the inverse kinematics analysis of the five degree of freedom (DOF) Mitsubishi Melfa RV-2AJ industrial robot. The proposed method is used specifically for controlling the z-axis Cartesian position. The kinematics problem is defined as the transformation from the robot’s end-effector Cartesian space to the joint angle of the robotic arms. An analytical solution using trigonometry illustration is presented to describe the relation between the position of the robot endeffector to each of the robot joints. Several lab experiments to validate the established kinematics equations have been conducted. In this study, the developed kinematics solutions were found to be accurate to approximately 99.83% compared to the real robot. These findings have significant implication for developing a kinematic simulation model that can be used to evaluate position and force control algorithm.

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What this paper is about

This paper presents the inverse kinematics analysis of the five degree of freedom (DOF) Mitsubishi Melfa RV-2AJ industrial robot. The proposed method is used specifically for controlling the z-axis Cartesian position. The kinematics problem is defined as the transformation from the robot’s end-effector Cartesian space to the joint angle of the robotic arms. An analytical solution using trigonometry illustration is presented to describe the relation between the position of the robot endeffector to each of the robot joints. Several lab experiments to validate the established kinematics equations have been conducted. In this study, the developed kinematics solutions were found to be accurate to approximately 99.83% compared to the real robot. These findings have significant implication for developing a kinematic simulation model that can be used to evaluate position and force control algorithm.

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Available abstract

This paper presents the inverse kinematics analysis of the five degree of freedom (DOF) Mitsubishi Melfa RV-2AJ industrial robot. The proposed method is used specifically for controlling the z-axis Cartesian position. The kinematics problem is defined as the transformation from the robot’s end-effector Cartesian space to the joint angle of the robotic arms. An analytical solution using trigonometry illustration is presented to describe the relation between the position of the robot endeffector to each of the robot joints. Several lab experiments to validate the established kinematics equations have been conducted. In this study, the developed kinematics solutions were found to be accurate to approximately 99.83% compared to the real robot. These findings have significant implication for developing a kinematic simulation model that can be used to evaluate position and force control algorithm.

Key concepts: Inverse kinematics, Kinematics, Kinematics equations, Cartesian coordinate robot, Cartesian coordinate system, Robot kinematics, Robot calibration, Forward kinematics

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