MATHEMATICAL ANALYSIS OF ACCELERATION OF WRIST OF 6 DOF FANUC R 2000IA 200F INDUSTRIAL ROBOT

Abstract

Use of robotics in industries, medical, defense etc filed is increasing rapidly. Robots are used in industries for pick and place, arc welding, machining, assembly, loading/unloading, inspection, palletizing etc. They are also used in defense and medical for human operations like kidney stone operation, knee joint replacement etc. These applications of robots needs smooth, precise and controlled movements. Control on velocity and acceleration of wrist plays role to achieve these requirements.

Acceleration of wrist depends on rate of change of speed w.r.to time of all individual joints. Attitude change of acceleration of wrist also is used for detection of faulty joint in robotics structure.

A common equation is derived for transformation (pose transformation i.e. translation and orientation) of robot wrist from one point to another point in space. Derivation of this equation w.r.to time results in velocity of wrist and second derivation w.r.to time results acceleration of wrist.