KUKA arc KR5 Industrial Manipulator's Trajectory Planning Modelling using MATLAB Based on Kinematics Study

Abstract

This study presents a modeling approach for the KUKA KR5 arc welding trajectory planning using MATLAB. The Denavit-Hartenberg methodology and the homogeneous transformation matrix are utilized to derive the direct and inverse kinematics of the robot. The proposed method is evaluated and validated through simulations and experiments. The workspace of the KUKA KR5 robot is simulated in MATLAB by taking into account the robot's dimensions and motor range. Path planning for the manipulation is achieved by using the Jacobian matrix for linear and circular paths. The position problem of the KUKA KR5 robot is solved by implementing the proposed kinematics model. The results of the experiments demonstrate that the proposed kinematics model is highly accurate.