Forward and inverse kinematics model for robotic welding process using KR-16KS KUKA robot
This paper aims to model the forward and inverse kinematics of a KUKA KR-16KS robotic arm in the application of a simple welding process. A simple welding task to weld a block onto a metal sheet is carried out in order to investigate the forward and inverse kinematics models of KR-16KS. A movement f...
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American Association for the Advancement of Science
2011
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| Online Access: | http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5775598 http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5775598 |
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um-7005 |
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eprints |
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um-70052015-01-06T08:47:04Z Forward and inverse kinematics model for robotic welding process using KR-16KS KUKA robot Dahari, M. Tan, J.D. TS Manufactures This paper aims to model the forward and inverse kinematics of a KUKA KR-16KS robotic arm in the application of a simple welding process. A simple welding task to weld a block onto a metal sheet is carried out in order to investigate the forward and inverse kinematics models of KR-16KS. A movement flow planning is designed and further developed into the KR-16KS programming. Eleven points of movement are studied for the forward kinematic modeling. A summary of calculation is obtained. A general D-H representation of forward and inverse matrix is obtained. This can be used in each of the welding operation movement based on KUKA KR-16KS robotic arm. A forward kinematic and an inverse kinematic aspect of KUKA KR-16KS is successfully modeled based on a simple welding task. American Association for the Advancement of Science 2011 Article PeerReviewed http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5775598 Dahari, M.; Tan, J.D. (2011) Forward and inverse kinematics model for robotic welding process using KR-16KS KUKA robot. Science <http://eprints.um.edu.my/view/publication/Science.html>. pp. 1-6. ISSN 1095-9203 http://eprints.um.edu.my/7005/ |
| repository_type |
Digital Repository |
| institution_category |
Local University |
| institution |
University Malaya |
| building |
UM Research Repository |
| collection |
Online Access |
| topic |
TS Manufactures |
| spellingShingle |
TS Manufactures Dahari, M. Tan, J.D. Forward and inverse kinematics model for robotic welding process using KR-16KS KUKA robot |
| description |
This paper aims to model the forward and inverse kinematics of a KUKA KR-16KS robotic arm in the application of a simple welding process. A simple welding task to weld a block onto a metal sheet is carried out in order to investigate the forward and inverse kinematics models of KR-16KS. A movement flow planning is designed and further developed into the KR-16KS programming. Eleven points of movement are studied for the forward kinematic modeling. A summary of calculation is obtained. A general D-H representation of forward and inverse matrix is obtained. This can be used in each of the welding operation movement based on KUKA KR-16KS robotic arm. A forward kinematic and an inverse kinematic aspect of KUKA KR-16KS is successfully modeled based on a simple welding task. |
| format |
Article |
| author |
Dahari, M. Tan, J.D. |
| author_facet |
Dahari, M. Tan, J.D. |
| author_sort |
Dahari, M. |
| title |
Forward and inverse kinematics model for robotic welding process using KR-16KS KUKA robot |
| title_short |
Forward and inverse kinematics model for robotic welding process using KR-16KS KUKA robot |
| title_full |
Forward and inverse kinematics model for robotic welding process using KR-16KS KUKA robot |
| title_fullStr |
Forward and inverse kinematics model for robotic welding process using KR-16KS KUKA robot |
| title_full_unstemmed |
Forward and inverse kinematics model for robotic welding process using KR-16KS KUKA robot |
| title_sort |
forward and inverse kinematics model for robotic welding process using kr-16ks kuka robot |
| publisher |
American Association for the Advancement of Science |
| publishDate |
2011 |
| url |
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5775598 http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5775598 |
| first_indexed |
2018-09-06T05:23:09Z |
| last_indexed |
2018-09-06T05:23:09Z |
| _version_ |
1610834393703645184 |