Study and modeling of KR 6 KUKA robot
This work presents the study and modeling of KUKA KR 6 Robot, of robotics laboratory of Federal University of Rio de Janeiro, show the CAD model, the direct and inverse kinematics models and the dynamical model, the direct kinematical model is based in the use of homogeneous matrix, the inverse kin...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Universidad de Antioquia
2013-12-01
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| Series: | Revista Facultad de Ingeniería Universidad de Antioquia |
| Subjects: | |
| Online Access: | https://revistas.udea.edu.co/index.php/ingenieria/article/view/17936 |
| _version_ | 1797861687482646528 |
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| author | John Faber Archila-Diaz Max Suell-Dutra |
| author_facet | John Faber Archila-Diaz Max Suell-Dutra |
| author_sort | John Faber Archila-Diaz |
| collection | DOAJ |
| description |
This work presents the study and modeling of KUKA KR 6 Robot, of robotics laboratory of Federal University of Rio de Janeiro, show the CAD model, the direct and inverse kinematics models and the dynamical model, the direct kinematical model is based in the use of homogeneous matrix, the inverse kinematics use the quadratic equations model, the dynamical model is based in the use of Euler - Lagrange equations, using homogeneous matrix and having in a count the inertial tensor, which one was found with help of CAD tools, is presented the jacobian of manipulator needed for the kinematical control. The work is the first stage for the control of KUKA KR 6 Robot and proposes the implementation of inverse kinematical model in one DSP of Texas Instruments family, analyzing his performance.
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| first_indexed | 2024-04-09T22:08:15Z |
| format | Article |
| id | doaj.art-5ee7d529a46546e2b9473bff59c6f619 |
| institution | Directory Open Access Journal |
| issn | 0120-6230 2422-2844 |
| language | English |
| last_indexed | 2024-04-09T22:08:15Z |
| publishDate | 2013-12-01 |
| publisher | Universidad de Antioquia |
| record_format | Article |
| series | Revista Facultad de Ingeniería Universidad de Antioquia |
| spelling | doaj.art-5ee7d529a46546e2b9473bff59c6f6192023-03-23T12:33:44ZengUniversidad de AntioquiaRevista Facultad de Ingeniería Universidad de Antioquia0120-62302422-28442013-12-014610.17533/udea.redin.17936Study and modeling of KR 6 KUKA robot John Faber Archila-Diaz0Max Suell-Dutra1Universidad Federal de Rio de JaneiroUniversidad Federal de Rio de Janeiro This work presents the study and modeling of KUKA KR 6 Robot, of robotics laboratory of Federal University of Rio de Janeiro, show the CAD model, the direct and inverse kinematics models and the dynamical model, the direct kinematical model is based in the use of homogeneous matrix, the inverse kinematics use the quadratic equations model, the dynamical model is based in the use of Euler - Lagrange equations, using homogeneous matrix and having in a count the inertial tensor, which one was found with help of CAD tools, is presented the jacobian of manipulator needed for the kinematical control. The work is the first stage for the control of KUKA KR 6 Robot and proposes the implementation of inverse kinematical model in one DSP of Texas Instruments family, analyzing his performance. https://revistas.udea.edu.co/index.php/ingenieria/article/view/17936Roboticsdirect kinematicsinverse kinematicsinertial tensordynamical modelJacobian |
| spellingShingle | John Faber Archila-Diaz Max Suell-Dutra Study and modeling of KR 6 KUKA robot Revista Facultad de Ingeniería Universidad de Antioquia Robotics direct kinematics inverse kinematics inertial tensor dynamical model Jacobian |
| title | Study and modeling of KR 6 KUKA robot |
| title_full | Study and modeling of KR 6 KUKA robot |
| title_fullStr | Study and modeling of KR 6 KUKA robot |
| title_full_unstemmed | Study and modeling of KR 6 KUKA robot |
| title_short | Study and modeling of KR 6 KUKA robot |
| title_sort | study and modeling of kr 6 kuka robot |
| topic | Robotics direct kinematics inverse kinematics inertial tensor dynamical model Jacobian |
| url | https://revistas.udea.edu.co/index.php/ingenieria/article/view/17936 |
| work_keys_str_mv | AT johnfaberarchiladiaz studyandmodelingofkr6kukarobot AT maxsuelldutra studyandmodelingofkr6kukarobot |