CONFERENCE PROCEEDINGS
Advanced Search
Home > Proceedings > Volume 12251 > Article
Paper
17 May 2022 Solution of the inverse kinematic problem for the KUKA KR AGILUS robotic arm
S. S. Akimov
Author Affiliations +
Proceedings Volume 12251, Computer Applications for Management and Sustainable Development of Production and Industry (CMSD2021); 122510K (2022) https://doi.org/10.1117/12.2631160
Event: Computer Applications for Management and Sustainable Development of Production and Industry (CMSD2021), 2021, Dushanbe, Tajikistan
Abstract
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.
© (2022) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Citation Download Citation
S. S. Akimov "Solution of the inverse kinematic problem for the KUKA KR AGILUS robotic arm", Proc. SPIE 12251, Computer Applications for Management and Sustainable Development of Production and Industry (CMSD2021), 122510K (17 May 2022); https://doi.org/10.1117/12.2631160
ACCESS THE FULL ARTICLE
ORGANIZATIONAL
Sign in with credentials provided by your organization.
INSTITUTIONAL
Select your institution to access the SPIE Digital Library.
SELECT YOUR INSTITUTION
PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.
PERSONAL SIGN IN
No SPIE Account? Create one
PURCHASE THIS CONTENT
SUBSCRIBE TO DIGITAL LIBRARY
50 downloads per 1-year subscription
Members: $195
Non-members: $335 ADD TO CART
25 downloads per 1 - year subscription
Members: $145
Non-members: $250 ADD TO CART
PURCHASE SINGLE ARTICLE
Includes PDF, HTML & Video, when available
Members: $17.00
Non-members: $21.00 ADD TO CART
PROCEEDINGS
 5 PAGES
DOWNLOAD PAPER SAVE TO MY LIBRARY
GET CITATION
Advertisement
Advertisement
RIGHTS & PERMISSIONS
Get copyright permission  Get copyright permission on Copyright Marketplace
KEYWORDS
Kinematics
Robotics
Robotic systems
Control systems design
RELATED CONTENT
Subscribe to Digital Library
Receive Erratum Email Alert
Back to Top