A Simulation Tool for Kinematics Analysis of a Serial Robot

Abstract

Robot programming is a very significant task in the field of robotics. Off-line programming (OLP) is a method performed before robot manipulation. It is the manual editing of the robot code using computer software to simulate the real robotic scenarios. Task sequence planning, short-term production, flexibility during operation and expecting real behaviour of the robots are some of the reasons that make the users prefer OLP. Operations can be visualized in many processes such as welding, cutting, even medical applications. In this study, off-line models are offered including the forward and inverse kinematics of a six Degree-Of-Freedom (DOF) serial robot manipulator (Denso VP-6242G). Robotic Toolbox combined with GUI Development Environment in Matlab (R) is used for the forward kinematics solution. A Matlab (R) Simulink model with Simmechanics blocks is used in the inverse kinematic analysis. Visualization is enriched by 3D Solidworks (R) models of the robot parts. Basic motion examples that can be used in many areas are presented.