SOLVING THE DIRECT KINEMATIC PROBLEM FOR A SIX-UNIT ROBOT MANIPULATOR

摘要

The study describes steps to solve the direct kinematic problem for a six-unit robot manipulator, the FANUC Robot M-20iA/35M. The problem solving is based on modern solid CAD modeling technologies combined with a physical modeling environment, as well as Simulink’s SimMechanics multi-unit spatial mechanisms. Simulink’s SimMechanics environment is used for visualizing the dynamics of the manipulator’s operating component. The manipulator’s matrix equation can then be used for solving the inverse kinematic problem.