Inverse Kinematics Solution For 6 Degree Of Freedom Of Fanuc LR Mate 200IB Robot

Mohd Khafizuddin, Khairddin (2010) Inverse Kinematics Solution For 6 Degree Of Freedom Of Fanuc LR Mate 200IB Robot. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

This project develops an algorithm for solving the inverse kinematics equation. The inverse kinematics equation is solving to determine angles (Ø) of rotation linkages of the three main axes of the robot by using programming software for 6 DOF of Fanuc LR Mate 200iB robot called ivFanuc. The process involves the control of parameter known as the value of the final position and orientation of the robot. This parameter is determined by user before solve the inverse kinematics equation. Its inverse kinematics problem will be solved by using conventional method and simulation. Both results will be compared to ensure the algorithm that was developed is correct and can be used for solving the inverse kinematics equation. The GUI was designed which ask user to insert the position and then the software will show the theta (Ø). The correct output of interface prove that this command can be used for solves the inverse kinematics equation. Overall, this project will describe the technique, calculation, method and algorithm on how the inverse kinematics is solved.

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