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What is Kinematics in IRB120 Robot Control about?

The document presents an analytical inverse kinematics solution for the IRB120 robot arm using a geometric approach. Forward kinematics is formulated using Denavit-Hartenberg representation. An analytical solution for inverse kinematics is then obtained geometrically. The solution successfully produced all possible robot configurations in a simulation. It was also able to successfully map cartesian space trajectories to joint space at a sampling rate of 0.001s. The presented analytical solution can be used

Author

Bala muniyandi G

Language

EN