Kinematic modeling of a 6R industrial robot

Abstract In this paper, we present the process of kinematic modeling and simulation, in ADAMS MBS of MSC software, of an articulated robot with six revolute joints, through direct and inverse kinematics. First, by using the STEP function, we define a spatial trajectory of the end effector, and, through inverse kinematics, we determine the motion laws of the six revolute joints. Then, we apply the inverse process on another virtual model of the same robot, by imposing the motion laws to the joints, to obtain the desired trajectory of the end effector, through direct kinematics. This work is a small part of our research regarding modeling and optimization of the industrial robots’ motion.