Abstract
The paper presents the forward and inverse kinematics problems solution for 5 DoF automated serial link MCM cutting and welding machine. Particularly, the solution was developed for specific application to be implemented in industry. The developing of the mathematical model for control purposes, implementing algorithms for trajectory finding and mathematical model for forward and inverse kinematics solution are described in the work. The solution is presented as simulation in RobWork Studio software [, as well as a 3D interactive animation implemented in specifically developed software environment. The result of given solution are evaluated and directions of further work concerning the implementation of obtained solution in the actual industrial application are defined.
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