Kinematical and Dynamical Models of KR 6 KUKA Robot , including the kinematic control in a parallel processing platform
نویسندگان
چکیده
This chapter presents the study and modelling of KR 6 KUKA Robot, of the Robotics Laboratory, Federal University of Rio de Janeiro, see fig 1. The chapter shows the CAD model (Computer Aided Design), the direct kinematics, the inverse kinematics and the inverse dynamical model. The direct kinematic is based in the use of homogeneous matrix. The inverse kinematics uses the quadratic equations model. The dynamical model is based on the use of Euler-Lagrange equations, using the D-H (Denavit-Hartenberg) algorithm and taking into account the inertia tensor, which was found with help of CAE tools (Computer Aided Engineering), On the other hand the Jacobian of robot manipulator is present, it‘s necessary for the kinematic control. The chapter finishes with the implementation of the inverse kinematic in one parallel processing platform and analyzes its performance.
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