Analysis Industrial Robot Arm with Matlab and RoboAnalyzer

Abstract

The industrial robot arm to be analyzed is the Motoman K10S, with configuration has 7 parts, namely Base, Rotary Head, Lower Arm, Upper Arm, Wrist Roll, Wrist Pitch Yaw, and Wrist Twist. The first joint connects the Base section with the Rotary Head (joint range of 340º or ± 170º). The second joint connects the Rotary Head section with the Lower Arm (joint range of 240º or ± 120º). The third joint connects the Lower Arm section with the Upper Arm (joint range of 275º or ± 137.5º). The fourth joint connects the Upper Arm section with the Wrist Roll (joint range of 360º or ± 180º). The fifth joint connects the Wrist Roll section with the Wrist Pitch Yaw (joint range of 270º or ± 135º). The sixth joint connects the Wrist Pitch Yaw section with the Wrist Twist (joint range of 400º or ± 200º). Based on the configuration of the industrial robot arm, further kinematic modeling of the six joints and the placement of the coordinate axis on each joint. Forward and inverse kinematic calculations are made in Matlab software. Then with RoboAnalyzer as a robot arm simulator to verify the results of the calculations. Keywords-industrial robot arm, forward kinematic, inverse kinematic, Matlab, RoboAnalyzer.