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