Mr. Sergey Akimov Profile

Sergey Akimov

at Orenburg State Univ

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Proceedings Article | 18 May 2022 Paper

Solution of the inverse kinematic problem for the KUKA KR AGILUS robotic arm

S. Akimov

Proceedings Volume 12251, 122510K (2022) https://doi.org/10.1117/12.2631160

KEYWORDS: Kinematics, Robotics, Robotic systems, Control systems design

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An urgent task today is to study the fundamentals of the movement of robotic systems, in particular, the manipulators of movement. To study the movement of robotic manipulators, it is necessary to compose and solve a kinematic problem, which is a description of the position of specific points of the manipulator (as a rule, the end point - the gripper or the robot's tool) in space. It is also important to study the kinematics in motion, to determine the speeds and accelerations necessary for the optimal operation of the entire robotic complex. This article describes a similar task for the KUKA KR AGILUS robotic arm. For this, the working conditions of the robot were set. As a result, the coordinates of the position of the gripper of the robot and the equations of motion describing the rate of change in the positions of the links of the manipulator were obtained.

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