Modelling of a 6DoF Robot with Integration of a Controller Structure for Investigating Trajectories and Kinematic Parameters

Armin Schleinitz, Chris Schöberlein, Andre Sewohl, Holger Schlegel, Martin Dix

2023

Abstract

Knowledge of robot joint position as a function of TCP-position and pose is of outstanding importance, since position and pose are specified by the process. However, there is no generally applicable method for the inverse transformation. In addition to a kinematic analysis and the inverse transformation of a 6DoF robot, this work also presents the development of a multi-body model based on it. All components are linked in a drive-specific controller structure. To validate the overall model, the simulation-based drive torques are compared with the values of a real robot. Likewise, target and actual Tool Center Point (TCP) positions of a given trajectory are examined in the simulation model and compared with a real system. It was shown that in the simulation model, the realized trajectory exhibits only very slight deviations compared to the previous trajectory, but greater deviations compared to the real system. The overall model forms the basis for further analyses regarding kinematic joint parameters as a function of a given trajectory.

Paper Citation

in Harvard Style

Schleinitz A., Schöberlein C., Sewohl A., Schlegel H. and Dix M. (2023). Modelling of a 6DoF Robot with Integration of a Controller Structure for Investigating Trajectories and Kinematic Parameters. In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-670-5, SciTePress, pages 697-703. DOI: 10.5220/0012203700003543

in Bibtex Style

@conference{icinco23,
author={Armin Schleinitz and Chris Schöberlein and Andre Sewohl and Holger Schlegel and Martin Dix},
title={Modelling of a 6DoF Robot with Integration of a Controller Structure for Investigating Trajectories and Kinematic Parameters},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2023},
pages={697-703},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012203700003543},
isbn={978-989-758-670-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Modelling of a 6DoF Robot with Integration of a Controller Structure for Investigating Trajectories and Kinematic Parameters
SN - 978-989-758-670-5
AU - Schleinitz A.
AU - Schöberlein C.
AU - Sewohl A.
AU - Schlegel H.
AU - Dix M.
PY - 2023
SP - 697
EP - 703
DO - 10.5220/0012203700003543
PB - SciTePress