Multiobjective Optimal Trajectory Planning of Space Robot ...
The Kuka KR 16-2 Robot
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Transcript of The Kuka KR 16-2 Robot
PROBLEM STATEMENTApply analysis on
robotTechnical dataForward KinematicsVelocity kinematicsSingularityTrajectory planningdesign
Technical DataDOF: 6Axes:6Payload: 16 kg, max
46kg
•Weight 235 kg•Max reach: 1611 mm•Actuator: electric
Dh parametersi αi-1 ai-1 di θi
1 0 0 0 370
2 90 675 260 190
3 0 680 0 284
4 90 670 35 700
5 90 0 0 260
6 90 115 0 700
KINEMATIC ANALYSIS
Forward Velocity
4.6711
10.5848
7.2827
0.5356 -0.5365 -0.1561 -0.7350
-0.7899 -0.5537 0.1280 -0.2303
-0.0207 0.5617 0.9794 -1.0661
0 0 0 1
Trajectory Planning link 1
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positionvelocityaccel.
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Trajectory Planning link 2
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positionveolcityaccel.
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Trajectory Planning link 3
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positionvelocityaccel.
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DESIGNExample
Structural length index
Kuka milling machinehttp://youtu.be/F-m514f
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