FORWARD & INVERSE KINEMATICS SOLUTION OF 6-DOF ROBOTS THOSE HAVE OFFSET & SPHERICAL WRISTS

Abstract

One of the critical design decisions that arise during the design of an industrial robot is the function of the joints to be used and their location. Of course, for the designed robot to provide the expected performance, the selection of the motors and gear reducers that will create these joints will primarily affect the determination of these joints. However, both the examination of the existing industrial robots and the fact that the motor and gear reducer information that can be supplied can be easily obtained with today’s technology, these joints can be determined quickly as a result of a short investigation. Along with the mechanical design, robot control unit design also has stages that progress in parallel and depend on or affect the mechanical design decisions. One of the most important of these is that especially inverse kinematics calculations can be performed analytically, enabling the robot control unit to make decisions and give commands in real-time.
 This article aims to publish the geometric calculation of inverse kinematics of commonly used exampled configuration of 6-DOF industrial robot that has offset and spherical joint along with interactive calculation tables and sheets. There are numerous articles published on the same subject but none of them has provided any verification supplement so far. Thus, it is also aimed to confirm and verify the calculations given in this article by providing convenient tables and sheets and to create a solid foundation for future studies.