Workspace Generation and Trajectory Planning of a Kawasaki RS06L Industrial Robot

Abstract

Today in industries for increasing the productivity, each and every possible activity that can be automated are automated by replacing the human labour with robots. Also in places where it is hazardous for humans if exposed and place where repeated job is to be done in such places robots are employed. For carrying out the work efficiently the robots are to be programmed such that they carry work with extreme precison. The path traversed or the path that the robot travels plays a vital role determining the precision of the work carried out by the robot. An engineer’s task is to generate an optimal path travel for the robot by considering several parameters such as surrounding work atmosphere, robot link lengths, joint angles, velocities, accelerations, jerks etc. Also the path planning is determined by the workspace of the robot. For generating a workspace a good command on the forward kinematics is required. The primary reason for existing this work is to generate a workspace and thereby generate several path planning techniques and hence determining the easiest and simplest but best method for the path planning of the Kawasaki RS06L industrial six degree of freedom robot. This current investigation has been focused on developing the workspace of the Kawasaki RS06L robot using forward kinematics and therby generating a path planning technique using geodesic, algebraic, quaternion and lie algebra techniques. The methodology adopted for achieving the above workspace and path planning involves determining the forward kinematics of the robot, which involves an step procedure containing from determining the DH parameters of the robot from Denavit Hartenberg seven step algorithm to generation of the workspace. The trajectory planning involves determining the inverse kinematics of the robot using different methods such as geodesic, quaternion algebral, ie algebra and algebraic methods. Finally trajectories are geberated in each and every method and comparision of the results will be done thereby deciding the best method for trajectory planning of a Kawasaki RS06L six degree of freedom industrial robot.