Comparison of Modified D-H Notation with Standard D-H for and all of Direct Kinematics of Industrial Robotic manipulators

Abstract

The accelerated growth of technology has allowed the development of more complex electromechanical structures and specific to the industry demand. Robots have emerged to meet this demand. The main objective of this work is to present a study of direct kinematics with the purpose of analyzing the behavior of the position and orientation of the industrial robotic manipulator in cartesian space in relation to a coordinate system. The methodology used in this exploratory scientific research will be developed, based on experimental tests, bibliographic references and case study applied at the Advanced Robotics Institute (IAR). The robot under study is the YASKAWA-MOTOMAN-GP7, from the IAR Robotics laboratory. The work contributes to an analysis and proof of Denavit-Hartenberg's notation. The results are the determination of the equations of direct kinematics of the robot, matrix equations developed in the MATLAB© software implemented capable of proving the mathematical model developed, which applies in all industrial robots.