Inverse Kinematic Analysis of Lab-Volt R5150 Robot system

Abstract

Kinematics analysis is the conversion from the Cartesian space to the joint space and vice versa. In this paper, an inverse kinematics modeling of 5 DOF stationary articulated robot arm which is used for educational tasks are presented, and shows an adopted modeling method to simulate and represent the simultaneous positional coordinates for each joint of the robot while it moving from one target to another. The standard Denavit-Hartenberg (DH) model is applied to build the mathematical modeling to determine and simulate the position and orientation of the end effector of (5 DOF) Lab-Volt R5150 robot manipulator. The simulation of the inverse kinematic of the robot arm is done through MATLAB software and compare the results with the data from RoboCIM software to know that the model is suitable for simulate and represent.