Verification of forward kinematics of the numerical and analytical model of Fanuc AM100iB robot

Abstract

The article presents the verification of forward kinematics of Fanuc AM100iB robot. The developed kinematic model of the machine was verified using tests on an actual robot model. The tests consisted in positioning the robot operating in the mode of controlling the values of natural angles in selected points of its workspace and reading the indications of the coordinate values of the TCP point in the robot's global coordinate system on the operator panel. Validation of the model consisted of entering the same values of natural angles that were used for positioning the robot in its inputs and calculating the coordinate values of the TCP of the machine's CAE model, and then comparing the results obtained with the values read. These results are the introduction to the partial verification of the dynamic model of the analysed device.