Kinematic Analysis Of 6-Axis Comau Robot

Khairunnisa , Khadari (2008) Kinematic Analysis Of 6-Axis Comau Robot. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

Kinematic analysis is the heart of this research. Kinematic analysis of a 6 degree-offreedom COMAU robot will be carried out using manual calculation and using MA TLAB software. Studies on past researches are performed in order to search for literature review on kinematics analysis of industrial robot. The main objective of this research is to find the robot arm parameters using the Denavit-Hartenberg (D-H) convention and then these parameters will be verified using MA TLAB software. Since this research is done, the objective is assumed to be achieved. This is because this study is able to get the parameters of the COMAU robot by manual calculation. After that, the parameters that obtained before have been successfully proof correct and can be trusted using MATLAB software. However, not all the parameter is able to get 100% tally to each other. There are some errors and differences from each other. This condition occurs since there must be some faulty in manual calculation or MA TLAB calculation.

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