Inverse Kinematics analysis and Simulation of 6-DOF Industrial Robot

Abstract

Systematic strategies i.e. Denavit-Hartenberg (D-H) strategy can't be utilized in kinematic investigation of extraordinary robots with the half pivot, though it is complicated to get the primary parameter by this technique .A identical change hypothesis is introduced to tackle this issue i.e. Screw theory. The Screw theory is used to solve inverse kinematics of the Ariosto robot and further it was comparison with D-H parameter. The result shows here that screw theory is more effective than the D-H parameter and suitable for inverse kinematics solution more complicated structure like 6-R Ariosto Robot. The joint angle value obtain from screw theory further simulated in MATLAB.