Forward and inverse kinematics model for robotic welding process using KR-16KS KUKA robot

• Main Authors: Dahari, M., Tan, J.D.
• Format: Article
• Published: American Association for the Advancement of Science 2011
• Subjects: TS Manufactures
• Online Access: http://eprints.um.edu.my/7005/; http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5775598; http://dx.doi.org/10.1109/ICMSAO.2011.5775598

This paper aims to model the forward and inverse kinematics of a KUKA KR-16KS robotic arm in the application of a simple welding process. A simple welding task to weld a block onto a metal sheet is carried out in order to investigate the forward and inverse kinematics models of KR-16KS. A movement flow planning is designed and further developed into the KR-16KS programming. Eleven points of movement are studied for the forward kinematic modeling. A summary of calculation is obtained. A general D-H representation of forward and inverse matrix is obtained. This can be used in each of the welding operation movement based on KUKA KR-16KS robotic arm. A forward kinematic and an inverse kinematic aspect of KUKA KR-16KS is successfully modeled based on a simple welding task.