Shaswat2001 / Complete_Analysis_of_IRB-6620_6DOF_Manipulator

This repository performs the kinematic, Dynamic analysis and trajectory planning for IRB 6620 Industrial robot using MATLAB. A detailed report consisting of mathematical calculations and results is also provided

Complete_Analysis_of_IRB6620

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)

Kinematic and Dynamic Analysis

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:

Trajectory Planning

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