{"title":"Forward and inverse kinematics model for robotic welding process using KR-16KS KUKA robot","authors":"M. Dahari, Jian-Ding Tan","doi":"10.1109/ICMSAO.2011.5775598","DOIUrl":null,"url":null,"abstract":"This paper aims to model the forward and inverse kinematics of a KUKA KR-16KS robotic arm in the application of a simple welding process. A simple welding task to weld a block onto a metal sheet is carried out in order to investigate the forward and inverse kinematics models of KR-16KS. A movement flow planning is designed and further developed into the KR-16KS programming. Eleven points of movement are studied for the forward kinematic modeling. A summary of calculation is obtained. A general D-H representation of forward and inverse matrix is obtained. This can be used in each of the welding operation movement based on KUKA KR-16KS robotic arm. A forward kinematic and an inverse kinematic aspect of KUKA KR-16KS is successfully modeled based on a simple welding task.","PeriodicalId":6383,"journal":{"name":"2011 Fourth International Conference on Modeling, Simulation and Applied Optimization","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2011-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"41","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2011 Fourth International Conference on Modeling, Simulation and Applied Optimization","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICMSAO.2011.5775598","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 41
Abstract
This paper aims to model the forward and inverse kinematics of a KUKA KR-16KS robotic arm in the application of a simple welding process. A simple welding task to weld a block onto a metal sheet is carried out in order to investigate the forward and inverse kinematics models of KR-16KS. A movement flow planning is designed and further developed into the KR-16KS programming. Eleven points of movement are studied for the forward kinematic modeling. A summary of calculation is obtained. A general D-H representation of forward and inverse matrix is obtained. This can be used in each of the welding operation movement based on KUKA KR-16KS robotic arm. A forward kinematic and an inverse kinematic aspect of KUKA KR-16KS is successfully modeled based on a simple welding task.
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