Solving Kinematics Problems of a 6-DOF Robot Manipulator
نویسنده
چکیده
This paper represents an analytical approach for solving forward kinematics problem of a serial robot manipulator with six degrees of freedom and a specific combination of joints and links to formulate the position of the gripper by a given set of joint angles. In addition, a direct geometrical solution for the robot’s inverse kinematics problem will be defined in order to calculate the robot’s joint angles to pose the gripper in a given coordinate. Furthermore, the accuracy of the two solutions will be shown by comparing the results in a developed simulation program which uses the Unified System for Automation and Robot Simulation (USARSim).
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