Kuka KR5 arc Welding Industrial Manipulator Workspace Modelling Based on Kinematics Study

Abstract

In this study Kuka KR5 arc industrial manipulator was study using Denavait Hartenberg (DH) parameters representation and homogeneous matrix in order to obtain the transformation matrix for six degree of freedom articulated robot using MATLAB. The workspace of Kuka robot can be deduce by computing the transformation matrix with each motor workspace range. finally, the study in this paper allows us to control the manipulator in order to achieve any wanted orientation and position.