Kinematics Analysis and Simulation of KUKA KR5-arc Welding Robot based on MATLAB

DOI

10.2991/icimm-16.2016.46How to use a DOI?

Keywords

Welding Robot; Kinematics Analysis; KUKA; MATLAB

Abstract

Introduce the application situation and development trend of welding robot, selecting the KUKA KR5-arc as the research object, simplifying its mechanical system and using the Denavit-Hartenberg (D-H matrix) representation and homogenous matrix to build the kinematic transformation of 6-DOF articulated robots. With the help of the Robotic Toolbox of MATLAB, the trajectory of robot manipulator can be obtained by the simulation and the results will provide a basis for robot motion analysis and design.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Sailong Wu
AU  - Qiang Lin
AU  - Peng Wang
PY  - 2016/11
DA  - 2016/11
TI  - Kinematics Analysis and Simulation of KUKA KR5-arc Welding Robot based on MATLAB
BT  - Proceedings of the 6th International Conference on Information Engineering for Mechanics and Materials
PB  - Atlantis Press
SP  - 242
EP  - 245
SN  - 2352-5401
UR  - https://doi.org/10.2991/icimm-16.2016.46
DO  - 10.2991/icimm-16.2016.46
ID  - Wu2016/11
ER  -