Presented By

 Robots are the main part of flexible manufacturing

systems. They are used in various applications where
human work can be replaced and automated.
 Motion control is fundamental to many robotics
applications, and is known to be a difficult problem.
 Execution in real world environments is confounded by
noisy sensors, approximate world models and action
execution uncertainty.
 A practical and mathematical model of industrial robot
required many equations and consumed much time
when it comes to design and experiment a real model.
 It has been proved that the benefit of design an
industrial model in computer simulation had reduced
the cost and time in designing and simulates an
industrial robot.
 A robotic arm is usually a programmable mechanical
arm, with performance similar to a human arm. The
purpose of this project is motion simulation and
design robotic arm by MATLAB software. The
equations of position, speed, and acceleration and
vibration system are developed. Then by coding, will
be displayed range of motion and how to move an
object with one or two arms in space using Simulink
environment. Here we focus on modeling an
industrial robot manipulator and designing
controller for the motion of the industrial robot
manipulator meet the requirement of the desired
trajectory or desired angle.
 Simulation of 5DOF Robot Manipulator and
Trajectory is done using CATIA and Matlab Software.
 Different kinematic parameters including joints'
angles and positions were determined in CATIA
software.
 The trajectory path of the end-effector was drawn,
three dimensional model for the manipulator is
established by CATIA software and Matlab used for
verifying the trajectory path.
Drawbacks:
 Requirement of two separate softwares increases
complexity and cost of operation.
 Coding efficiency gets reduced due to separate
software programs.
A six DOF robotic arm which consists of six
links is developed using MATLAB simulation
tool and then the forward and inverse
kinematics analysis is performed in this
project. . The six DOF manipulator will have
six joints from joint 1 to joint 6 and six links
from link 0 to link 5. In this project, forward
kinematics is calculated using the
transformation matrix method. A model in
matlab using robotics tool bar is created to
determine the scope and motion simulation
and robot arm design.
 6DOF minimize transmission errors and
increase positioning accuracy.
 The method presented in this project has
higher computational efficiency and
computationally faster than all existing
methods.
 This is also cost effective and saves on
both hardware and software cost as well
as on maintainence and repair cost.
 Robotic arms are probably the most mathematically
complex robots to analyze, simulate, and build.
 A robotic arm has links/frames and joints as the
basic building blocks.
 Robot anatomy deals with the study of different joints
and links and other aspects of the manipulator's
physical construction.
 A robotic joint provides relative motion between two
links of the robot.
 Each joint, or axis, provides a certain degree-of-
freedom (DOF) of motion.
 The robot's complexity can be classified according
to the total number of degrees-of-freedom they
possess.
 Positioning accuracy increases with increase in DOF.
 The performance of a robot arm can be analyzed by
evaluating the movement from an initial position to a
final position.
 Nonlinearities, parameter uncertainties and external
disturbances exist in linear robot controllers.
 Therefore, it is difficult to eliminate these undesired
effects in order to achieve good stability and precise
tracking control performance.
 Output response of linear controller would
sometimes deviate from the desired input trajectory.
 The controller is used to minimize the error between
the intended and the actual positions.
 In addition the robot arm should be able to operate
as usual when the external disturbance is applied to
any joint of the robot arm.
 Kinematics deals with the movement of end
effector of the robot manipulator relative to
the base of the manipulator as a function of
time.
 Forward kinematics gives the position and
orientation of the end-effector matrix for an
n-degree of freedom manipulator with
respect to a base frame.
 Inverse kinematics of a robot manipulator
deals with the calculation of each joint
variable, given the position and orientation
of end effector.
 Theforward kinematics problem can be
expressed mathematically as follows.

 Thefollowing equation explains the

inverse kinematics problem.

 TheDH convention is used in the project

and the six DOF robot follows the DH
rules mentioned for assigning the frames:
 Kinematics can be calculated using different
methods. In this project, forward kinematics is
calculated using the transformation matrix
method. As a result the forward kinematics
solution is the product of six matrices (six
transformation matrices) with respect to the
base as shown in equation.
 The Robotics Toolbox for MATLAB that allows the
user to easily create and manipulate datatypes
fundamental to robotics such as homogeneous
transformations, quaternions and trajectories.
 Functions provided for arbitrary serial-link
manipulators include forward and inverse
kinematics, and forward and inverse dynamics.
 The Robotics Toolbox provides many functions
that are required in robotics and addresses areas
such as kinematics, dynamics, and trajectory
generation.
 A matlab file, LINK.m performs the process of
link creation. This file holds all information
related to a robot link such as the kinematics
parameters, rigid body inertial parameters,
motor and transmission parameters.
 There are classes and functions to receive the
four parameters of the DH convention and
construct the link.
 A code has been developed to generate the
forward kinematics equations and calculate the
robot Manipulator position and orientation in
terms of joint angles and its output is compared
with Robot software .
 Inthis project, we have to simulate a six
DOF robot using MATLAB simulation tool.
The motion of the robot was controlled in
different directions using various joint
angle combinations. The concept of
forward and inverse kinematics was used
to determine the end-effector position
for fixed joint angles, and the joint angles
for a fixed end-effector.