KINEMATIC ANALYSIS OF ROBOT AND MANIPULATOR ARMS

Robots and manipulators are used to serve machine tools in automatic production systems. The inverse kinematic analyses are carried out by Denavit-Hartenberg parameters for a 4 DOF manipulator and a 6 DOF robot. The aim of the paper is to determine the angles of the joints of the robot and the manipulator for the control system. Using trigonometric functions of triangles and the cosine theorem, the functions of joint angles are derived in closed forms. A computer code has been developed to simulate the prescribed motions of the robot and the manipulator. The same paths are prescribed for both the manipulator and the robot in numerical examples. The joint angles are calculated for a work cycle. The computed curves are similar but not the same for the first three joints of the robot and manipulator.