In the given project Kinematic, Dynamic analysis and trajectory planning of IRB 6620 is presented. Just to give a glimpse of what lies ahead. (Detailed Explanation is given in the reports ahead)
To perform Kinematic and Dynamic analysis, both analytical approach and numerical validation approach is used. Some of the results are shown-
- Forward Kinematics in MATLAB:
- Inverse Kinematics in MATLAB:
- Inverse Dynamics in RoboAnalyzer:
MATLAB is used to perform trajectory planning of IRB 6620. Trapezoidal, quintic and cubic time scalings are used in the simulation.
- Cubic Trajectory in Task Space
- Quintic Trajectory in Joint Space
