Skip to main content
SpringerLink
Log in

Kinematic Analysis of A 6-DOF Robotic Arm

  • Conference paper
  • First Online:
Advances in Mechanism and Machine Science (IFToMM WC 2019)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 73))

Included in the following conference series:

Abstract

This paper presents a kinematic model for a six degree-of-freedom (DOF) robotic arm. Both of forward and inverse kinematic models are established and their solutions are attained based on Denavit-Hartenberg (D-H) parameters and Particle Swarm Algorithm (PSO), respectively. The position and the orientation of the end-effector are obtained through the forward model. The experiment is further performed to validate the sumulation results. Analysis results show that the simulation data are consistent with the measured positions and orientations.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 429.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 549.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 549.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Daniel Constantin, Marin Lupoae, Cătălin Baciu, Dan-Ilie Buliga: Forward Kinematic Analysis of an Industrial Robot. In: New Developments in Mechanics and Mechanical Engineering, pp. 90 – 95. Vienna, Austria (2015).

    Google Scholar 

  2. Tarun Pratap Singh, D.P.S., Dr. Swet Chandan: Forward and Inverse Kinematic Analysis of Robotic Manipulators. International Research Journal of Engineering and Technology (IRJET) 4(2), 1459 – 1469 (2017).

    Google Scholar 

  3. Tarun Pratap Singh, D.P.S., Dr. Swet Chandan: Kinematic and Dynamic Analysis of A Robot Arm Used For All Terrain Robot. International Journal of Engineering Research & Technology (IJERT) 3(5), 849 – 854 (2014).

    Google Scholar 

  4. Relly Victoria V. Petrescu, R.A., Bilal Akash, Ronald B. Bucinell, Juan M. Corchado, Filippo Berto, Mir-Milad Mirsayar, Antonio Apicella and Florian Ion T. Petrescu: Inverse Kinematics at the Anthropomorphic Robots, by a Trigonometric Method. American Journal of Engineering and Applied Sciences 10(2), 394 – 411 (2017).

    Google Scholar 

  5. Guo-Shing Huang, C.-K.T., Hsiung-Cheng Lin, and Shun-Hui Hsiao: Inverse Kinematics Analysis Trajectory Planning for a Robot Arm. In: Proceedings of 2011 8th Asian Control Conference (ASCC), pp. 965 – 970. Kaohsiung, Taiwan (2011).

    Google Scholar 

  6. Serkan DERELİ, R.K.: IW-PSO Approach to The Inverse Kinematics Problem Solution of A 7-DOF Serial Robot Manipulator. Sigma Journal of Engineering and Natural Sciences 36(1), 77 – 85 (2018).

    Google Scholar 

  7. Lawrence, G.Z.G.a.P.D.: Iterative Inverse Kinematics with Manipulator Configuration Control. IEEE Transactions on Robotics and Automation 9(4), 476 – 483 (1993).

    Google Scholar 

  8. Vivek Des Hpande, P.M.G.: ARM Kinematic Modelling and Analysis of 5 DOF Robotic Arm 4(2), 17 – 24 (2014).

    Google Scholar 

  9. Ahmed R. J. Almusawi, L.C.D., Sadettin Kapucu: A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242). Hindawi Publishing Corporation Computational Intelligence and Neuroscience 2016(1), 1 – 10 (2016).

    Google Scholar 

  10. Saleh Tabandeh, C.C., William Melek: A Genetic Algorithm Approach to solve for Multiple Solutions of Inverse Kinematics using Adaptive Niching and Clustering. In: 2006 IEEE Congress on Evolutionary Computation, pp. 1815 – 1822. Sheraton Vancouver Wall Centre Hotel, Vancouver, BC, Canada (2006).

    Google Scholar 

  11. Corke, P.I.: A robotics toolbox for MATLAB. IEEE Robotics & Automation Magazine 3(1), 24 – 32 (1996).

    Google Scholar 

  12. J. Denavit, R.S.H.: A kinematic notation for lower-pair mechanisms based on matrices. Journal of Applied Mechanics 22(1), 215 – 221 (1955).

    Google Scholar 

  13. Kennedy, J.E., R.: Particle Swarm Optimization. In: Proceedings of IEEE International Conference on Neural Networks, pp. 1942 – 1948. Australia (1995).

    Google Scholar 

  14. DELTA Homepage, http://www.deltaww.com/Products/CategoryListT1.aspx?CID=060603&PID=3817&hl=en-US&Name=DRV70L.

Download references

Acknowledgements

This research was supported by the Ministry of Science and Technology of Taiwan under Contract Nos. MOST 107-2221-E-035 -074 -MY3 and MOST 104-2221-E-035-050-MY3.

Author information

Authors and Affiliations

  1. Ph.D. Program of Mechanical and Aeronautical Engineering, Feng Chia University, No. 100 Wenhwa Rd., Seatwen, Taichung, 40724, Taiwan, ROC

    Minh Tuan Nguyen

  2. Department of Mechanical and Computer-Aided Engineering, Feng Chia University, No. 100 Wenhwa Rd., Seatwen, Taichung, 40724, Taiwan, ROC

    Cadmus Yuan & Jin Huang Huang

Authors
  1. Minh Tuan Nguyen
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Cadmus Yuan
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Jin Huang Huang
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Jin Huang Huang .

Editor information

Editors and Affiliations

  1. Robotics & Machine Dynamics Group, University of Mining and Metallurgy, Kraków, Poland

    Tadeusz Uhl

Rights and permissions

Reprints and permissions

Copyright information

© 2019 Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Nguyen, M.T., Yuan, C., Huang, J.H. (2019). Kinematic Analysis of A 6-DOF Robotic Arm. In: Uhl, T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73. Springer, Cham. https://doi.org/10.1007/978-3-030-20131-9_292

Download citation

Publish with us

Policies and ethics

Search

Navigation