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2020•IOP Conference Series Materials Science and EngineeringOpen access

Kinematics analyses for robot motion

Wandro Siregar, Parulian Siagian, Lin Rong-Shine, Richard A.M. Napitupulu, Miduk Tampubolon, Sutan LMH Simanjuntak

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Abstract

Abstract This project is a part of the analysis which aims to find solutions to the kinematics problem that exists in the movement of the robot arm. In order to control the robot manipulator as desired, so it is important to consider kinematics models in the design of control algorithms. Which in this report presents a mathematical model and kinematics parameter for the robot kinematics. The solution of the forward kinematics based on the matrix transformation method are given and the results are obtained using Matlab software.

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What this paper is about

Abstract This project is a part of the analysis which aims to find solutions to the kinematics problem that exists in the movement of the robot arm. In order to control the robot manipulator as desired, so it is important to consider kinematics models in the design of control algorithms. Which in this report presents a mathematical model and kinematics parameter for the robot kinematics. The solution of the forward kinematics based on the matrix transformation method are given and the results are obtained using Matlab software.

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Available abstract

Abstract This project is a part of the analysis which aims to find solutions to the kinematics problem that exists in the movement of the robot arm. In order to control the robot manipulator as desired, so it is important to consider kinematics models in the design of control algorithms. Which in this report presents a mathematical model and kinematics parameter for the robot kinematics. The solution of the forward kinematics based on the matrix transformation method are given and the results are obtained using Matlab software.

Key concepts: Kinematics, Robot kinematics, Inverse kinematics, Kinematics equations, Forward kinematics, Computer science, Robot, MATLAB

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