Forward and iterative inverse kinematics of an industrial robot using labview

Abstract

Industrial robots are used in flexible automation and manufacturing newlinesystems due to advancements in information technology and engineering. An newlineindustrial robot does certain operations based on specifications for a defined newlinemotion. Robot kinematics controls the motion of the manipulator. The robot newlinekinematics contains two sub problems: the forward kinematics and inverse newlinekinematics. The most basic application of an industrial robot is pick and place newlineoperation in which it picks up a part at one location and moves it to another newlinelocation. Ever since the first industrial robots appeared, there has been a big newlineconcern about computing kinematics in a simple, reliable and fast way in newlineorder to optimize the robot performance. Hence, the objective of this newlineresearch work is to compare different models and obtain generalized, easy and newlineexact solution of inverse kinematics problem for industrial robots. For newlineKinematic analysis, an industrial robot SCORBOT ER V Plus is considered newlinefor illustration. LabVIEW (Laboratory Virtual Instrument Engineering newlineWorkbench), a powerful graphical programming software for data acquisition newlineand control has been used here for the kinematic analysis.In this research work, forward kinematic analysis of the industrial newlinerobot namely SCORBOT ER V Plus (consists of 12 kinematic equations and newline5 inputs besides the D-H (Denavit and Hartenberg) Parameters) is done using newlineLabVIEW and the results are validated using RoboCell software and a CAD model. Reachability analysis, path and workspace analysis for SCORBOT ER newlineV Plus are done in further stages. Three different positions and four unique newlinerotations are considered for analysis. (Positions: 1.Minimum, 2.Home and newline3.Maximum, Rotations: 1.Base, 2.Shoulder, 3.Elbow and 4.Wrist). Reachability analysis is done using LabVIEW to analyse the newlinereachable coordinates of TCP (Tool Centre Point) considering three positions newline1.Minimum, 2.Home and 3.Maximum with 5 inputs besides the D-H newlineParameters as design variables. newline