Analysis of Open Architecture 6R Robot Forward and Inverse Kinematics Adaptive to Structural Variations

This paper presents a kinematic analysis for an open architecture 6R robot controller, which is designed to control robots made by domestic manufactures with structural variations. Usually, studies are often introduced specific types, and therefore, difficult apply the model from one another robot. study incorporates most of variations in so that it convenient switch types modifying parameters. By combining adequate set parameters, models, especially inverse kinematics, derived. The models proved be suitable many classic industrial such as Puma560, ABB IRB120/1600, KAWASAKI RS003N/RS010N, FANUC M6iB/M10iA, therefore applicable those similar structures. derivation forward presented, results proven accurate.