Identifying and updating the kinematics of kuka-iiwar800 in cad for accurate simulation

Abstract

Kinematics and dynamics of the robot are affected by the addition of the link in the form of end-effector in the robots. An approach is presented for updating the CAD model kinematics as per customized installed robot KUKA-iiwaR800 with its gripper. KUKA-iiwaR800 is a light weight manipulator with seven degrees of freedom (DOF) which is popular in robotics research nowadays. We present a method to match the kinematic data of the installed robot with the CAD model in SimMechanics (SM) and in-house developed software RoboAnalyzer (RA). The CAD assembly of the customized robot was done in Autodesk Inventor and then imported to the Matlab environment for simulation. The validation of CAD model kinematics is done by matching the forward kinematics results from the installed robot using the log data of joint angles. After kinematic validation the model is updated in RA software with the kinematics of actual robot and the dynamic parameters as in SM. Again cycloidal trajectories were used to validate the kinematic model in RA with SM. Inverse and forward dynamics of the robot was carried out in RA using the mass and inertial properties listed in the paper.