{"title":"基于KR-16KS - KUKA机器人焊接过程的正逆运动学模型","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":"{\"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}","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}
Forward and inverse kinematics model for robotic welding process using KR-16KS KUKA robot
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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