This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Fanuc Family Inverse Kinematics Modeling, Validation and Visualization
Technical Paper
2016-01-0335
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
Inverse kinematic solutions of six degree of freedom (DOF) robot manipulation is a challenging task due to complex kinematic structure and application conditions which affects and depend on the robot’s tool frame position, orientation and different possible configurations. The robot trajectory represents a series of connected points in three dimensional space. Each point is defined with its position and orientation related to the robot’s base frames or users teach pendant. The robot will move from point to point using the desired motion type (linear, arc, or joint). This motion requires inverse kinematic solution. This paper presents a detailed inverse kinematic solution for Fanuc 6R (Rotational) robot family using a geometrical method. Each joint angular position will be geometrically analyzed and all possible solutions will be included in the decision equations. The solution will be developed in a parametric manner to cover the complete Fanuc six DOF family. This result will be used for modeling and simulation purposes, even design of a new robotic systems and for understanding the robots physical limitations which is important for path planning. The validation and visualization of the developed equation were performed with robot mathematical model and actual Fanuc LR Mate 200ic robot. Complex teach pendant points were created with both robots which information was used to recreate the same points using equation derived in this paper. The tests show that the inverse kinematics solution is correct and very accurate.
Recommended Content
Topic
Citation
Odeyinka, S. and Djuric, A., "Fanuc Family Inverse Kinematics Modeling, Validation and Visualization," SAE Technical Paper 2016-01-0335, 2016, https://doi.org/10.4271/2016-01-0335.Also In
References
- Craig , J. J. 2005 Introduction to Robotics: Mechanics and Control 3rd Upper Saddle River, NJ Prentice-Hall
- Tuna , B. , Ozgoren , M. K. , Arikan , M. S. , & Baykurt , H. M. 2000 A method of inverse kinematics solution including singular and multiple configurations for a class of robotic Mechanism and Machine Theory 35 1221 1237
- Szkodny , T. 1995 Forward and Inverse Kinematics of IRb-6 Manipulator Mechanical Machine Theory 30 1039 1056
- Rachid , M. 2006 Robot modeling and kinematics Boston, MA, USA Da Vinci Engineering Press
- Denavit , J. , & Hartenberg , R. S. 1955 A kinematic notation for lower-pair mechanisms based on matrices Journal of Applied Mechanics 77 215 221
- Spong Mark W. , Seth H. , Vidyasagar M. 2006 Robot Modelling and Control Hoboken, NJ, USA John Wiley & Sons, Inc.
- Reuleaux Franz , E. S. 1875 The Kinematics of Machinery: Outlines of a Theory of Machines New York Dover Publication
- Tsai , L. W. 1999 Robot Analysis:The Mechanics of Serial and Parallel Manipulators Wiley-Interscience Publication (John Wiley & Sons, Inc)
- Dehghani , M. , Eghtesad , M. , Safavi , A. A. , Khayatian , A. and Ahmadi , M. 2008 Neural Network Solutions for Forward Kinematics Problem of HEXA Parallel Robot Ryu Jee-Hwan 978-3-902613-20-2 2008
- Merlet , J. P. 2001 Parallel Robots (Solid Mechanics and Its Applications) Kluwer Academic Publishers
- Bonev , I. A. & Gosselin C.M. 2000 A Geometric Algorithm for the computation of the constant-Orientation of 6RUS PM ASME 2000 Design Engineering Technical Conferences and Computers and Information in Engineering Conference Baltimore Maryland September, 2000
- Manocha , D. , and Canny , J.F. 1994 Efficient Inverse Kinematics for General 6R Manipulators IEEE Transactions on Robotics and Automation 10 5 October 1994
- Pieper , D. The kinematics of manipulators under computer control Ph.D. thesis Stanford University 1968
- Lee , C.S.G , & Ziegler M. 1983 A Geometric Approach in Solving The Inverse Kinematics of PUMA Robots Ann Arbor, Michigan December 1983
- Adept Technology 2007 Six-Axis Robot Configuration Singularities USA Adept Technology, Inc. March 2007
- Cheng , S. K. , Xiao , D. , Tsai , C. K. , McGee , H. D. , & Jean , M. R. 2005 Rochester Hills, Michigan, USA
- Odeyinka , S.M. Complete Geometrical Approach to the Solution of Inverse Kinematics of Fanuc 6DOF Robot Families Master thesis Wayne State University 2015
- Djuric A. 2005 Workcell version 1.0
- Nubiola A. , Bonev I. , Sitges M. 2011 Robot Kinematics Simulator: RokiSim 1.7 Control and Robotics Laboratory
- Rajeevlochana , C.G. , and Saha , S.K. RoboAnalyzer: 3D Model Based Robotic Learning Software http://www.roboanalyzer.com/ India February 2011
- Rachid , M. 2006 Robot Model Description Form (RModelo) Boston, MA, USA Da Vinci Engineering Press