Modelling and Simulation of KUKA KR6 Robot Manipulator

Abstract

This research about modeling and simulation of 6-DOF manipulator robots and the KUKA KR 6 manipulator robot have been selected as a target robot for study. The study performed using theoretical analysis including mathematical modeling of the robot based on transformation matrix and geometry approach for kinematic analysis and based on Euler-Lagrange equations and recursive Newton-Euler for dynamic analysis, then the modeling implemented by ARTE toolbox that work under MATLAB program. These analyses are important for manipulator robots where the execution of the specific task requires the manipulator to follow a preplanned path, which the practical geometric parameters, physical characteristics and restriction relations are adopted to establish robots’ dynamics and kinematics model. The robot model has been developed as accurate as the real one by implementing dynamic model of robot in ARTE toolbox linking with MATLAB for motion studies. 3D Simulation experiments show that the modeling method is efficient and it provides an effective platform for researching on the assistant robot system.