Inverse kinematics analysis of a 5-Axis RV-2AJ robot manipulator
This paper presents the inverse kinematics analysis of the five degree of freedom (DOF) Mitsubishi Melfa RV-2AJ industrial robot. The proposed method is used specifically for controlling the z-axis Cartesian position. The kinematics problem is defined as the transformation from the robot’s end-effec...
| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
| Published: |
2015
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/7149/ http://eprints.uthm.edu.my/7149/1/IC3E_2015_submission_006.pdf |
| Summary: | This paper presents the inverse kinematics analysis of the five degree of freedom (DOF) Mitsubishi Melfa RV-2AJ industrial
robot. The proposed method is used specifically for controlling the z-axis Cartesian position. The kinematics problem is
defined as the transformation from the robot’s end-effector Cartesian space to the joint angle of the robotic arms. An
analytical solution using trigonometry illustration is presented to describe the relation between the position of the robot endeffector
to each of the robot joints. Several lab experiments to validate the established kinematics equations have been
conducted. In this study, the developed kinematics solutions were found to be accurate to approximately 99.83% compared to
the real robot. These findings have significant implication for developing a kinematic simulation model that can be used to
evaluate position and force control algorithm. |
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