Kinematic study of curved 6 DOF arm

• Main Authors: Raghunathan, Anjana Venugopal, Sivakumar, Anushri Karthikhaa, Palaniswamy, Anbarasi Muthuswamy
• Format: Conference Proceeding
• Language: English
• Subjects: Acceleration; Decoupling method; Degrees of freedom; End effectors; Inverse kinematics; Kinematics; Robot arms; Robot control; Robot dynamics; Robots; Software
• ISSN: 0094-243X; 1551-7616
• DOI: 10.1063/5.0194646

In today's world robot manipulators are used in various sectors ranging from manufacturing industry, health care, rehabilitation purposes, etc. Kinova Generation2 curved 6 Degrees of Freedom (DoF) robotic arm was designed and manufactured to assist and empower people with disabilities. One of the main objective of this paper is to understand the motion of the Kinova arm in detail. Therefore, a study on the specifications and features of Kinova arm is exhaustively performed and conclusions are made. These conclusions can be used to understand the functionalities of the Kinova arm which in turn will aid to utilize in various applications. Kinematics helps in studying the motion of the robotic arm. Both kinds of kinematic analysis namely forward and inverse kinematics had been extensively studied and analyzed. The forward and inverse kinematics are derived using D-H parameter table and kinematic decoupling method respectively for the Kinova curved 6 DOF robot arm. The main concept behind the velocity kinematic study for the Kinova arm is also discussed in the paper. The position and orientation of the end effector of the arm using Forward Kinematics is obtained using MATLAB software. These results can further be used in Path planning. Further, RoboAnalyzer software is also utilized to understand the end effector position, joint values, joint velocity, and joint acceleration of the robot arm by plotting the associated values. The paper also gives insight on the control of Robot arm in real life using various tools such as Joystick, software and ROS interface. The results inferred from this simulation and the understanding of robot control using ROS can further be used to program and utilize the Kinova arm in various different arenas.