Forward Kinematic Analysis of Six-Axis Articulated Industrial Robotic Arm

Abstract

Forward kinematics is the tool that gives position and orientation of tool tip of industrial robotic arms in their work envelope, based on values of certain influential parameters. This paper discusses forward kinematic analysis of a six axis robotic arm that is being developed as a post-graduate project at Veermata Jijabai Technological Institute Mumbai, India. The arm under consideration in this paper has a wrist with roll, pitch as well as yaw. An attempt is made to reach as close as possible to a spherical wrist configuration. An arm matrix and a LCD (link co-ordinate diagram) are developed for this arm and are further validated using three ways viz; standard analytical method, RTSX tool of scilab as well as RoboAnalyzer software. All results do agree with each other and are presented in this paper.