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Robot Kinematics PDF

This document summarizes the kinematic model of a Mitsubishi RV-6S/6SC robot. It uses the Denavit-Hartenberg convention to define the standard Denavit-Hartenberg parameters including alpha, a, theta, and d values for each of the robot's 6 revolute joints. It also provides the MATLAB code to simulate and define the robot as an RV-6S robot object using the Robotics Toolbox and its standard Denavit-Hartenberg parameters.

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Mohamed Eraky
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191 views

Robot Kinematics PDF

This document summarizes the kinematic model of a Mitsubishi RV-6S/6SC robot. It uses the Denavit-Hartenberg convention to define the standard Denavit-Hartenberg parameters including alpha, a, theta, and d values for each of the robot's 6 revolute joints. It also provides the MATLAB code to simulate and define the robot as an RV-6S robot object using the Robotics Toolbox and its standard Denavit-Hartenberg parameters.

Uploaded by

Mohamed Eraky
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Kinematics of Mitsubushi RV-6S/6SC Robot

Intelligent Robotics
Tomas Pajdla
[email protected]
October 2004

Kinematic model of Mitsubushi RV-6S/6SC (Denavit-Hartenberg convention)

R. S. Hartenberg and J. Denavit, A kinematic notation for lower pair mechanisms based
on matrices, Journal of Applied Mechanics, vol. 77, pp. 215221, June 1955.

RV-6S/6SC

MATLAB simulation in ROBOT toolbox:


mRV6S =
RV-6S (6 axis, RRRRRR) [Mitsubishi] <home = [0.000000 -1.047198 -0.523599 0.000000 0.785398 0.000000]>
grav = [0.00 0.00 9.81]
alpha_i
a_i
theta_i
d_i
R/P
standard D&H parameters
-1.570796
85.000
parameter
350.000
R
(std)
0.000000
280.000
parameter
0.000
R
(std)
-1.570796
100.000
parameter
0.000
R
(std)
1.570796
0.000
parameter
315.000
R
(std)
-1.570796
0.000
parameter
0.000
R
(std)
0.000000
0.000
parameter
85.000
R
(std)

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