industrial robot modelling and simulation using matlab

Abstract

This study serves as a comprehensive process for the design and simulation of a simulated model of an existing robotic arm, the KUKA KR6 R700 CR. The approach begins with the construction of a simplified 3D model of the arm to reduce computational load. Forward kinematics was calculated using the homogeneous transformation matrix, then the Inverse kinematics model was constructed using the decomposition method. both the simplified and downloaded models of the robotic arm were imported into CoppeliaSim. MATLAB and CoppeliaSim were used to integrate the mathematical model with the physical representation of the robotic arm. Lastly the robotic arm was tested by executing a four point movement.