Cylindrical Kinematics of End Effector and Differential Motion Analysis of KUKA KR 16 Robotic System

Authors

  • Singh K Deptt of Applied Science, Ambalika Institute of Management and Technology, Lucknow
  • Dwivedi PK Deptt of Applied Science, Ambalika Institute of Management and Technology, Lucknow
  • Mishra A Deptt of Applied Science, Ambalika Institute of Management and Technology, Lucknow

DOI:

https://doi.org/10.26438/ijcse/v6i8.757764

Keywords:

Robot, Forward Kinematics, Jacobians, D-H matrix, Trajectory Planing

Abstract

In this paper forward kinematic analysis and differential motion analysis of the KUKA KR 16 Industrial Robotic System has been considered, which is a 6 d.o.f articulated robotic manipulator but we have calculated and shown spatial trajectory only 5 d.o.f, due to critical trajectory planning of D-H implementation. Forward kinematic analysis uses D-H formulation, Differential motion uses Jacobians also determines angular positions and end-effector‟s translational angular velocity at each point of its trajectory in the cartesian co-ordinates respectively. A trajectory passing through initial point, lift off point, set down point and final point is interpolated in the joint space using cubic splines. The trajectory scheme assumes two more intermediate points on trajectory. Thus, there are five segments of the entire trajectory. A LABVIEW source code is developed to obtain all the kinematics parameters and important conclusions have been observed from the values obtained

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Published

2025-11-15
CITATION
DOI: 10.26438/ijcse/v6i8.757764
Published: 2025-11-15

How to Cite

[1]
K. Singh, P. K. Dwivedi, and A. Mishra, “Cylindrical Kinematics of End Effector and Differential Motion Analysis of KUKA KR 16 Robotic System”, Int. J. Comp. Sci. Eng., vol. 6, no. 8, pp. 757–764, Nov. 2025.

Issue

Vol. 6 No. 8 (2018): IJCSE August Edition

Section

Research Article

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