Serial Manipulator Kinematics Problem and Robot Tool Weaving Motion Analysis
DOI:
https://doi.org/10.23055/ijietap.2026.33.2.10581Abstract
Understanding the kinematics and dynamics of an industrial robotic arm is vital for optimizing its movements, ensuring safety, planning efficient paths, and developing advanced control strategies. This study provides valuable insights into the behavior of the six degrees of freedom robotic manipulator, considering the variations in joint angles and the corresponding range of motion in relation to the nature of the traversed path. Both the forward and inverse kinematic problems are addressed, and numerical approach is utilized. Using a weaving motion with the welding torch to deposit filler metal across the joint is considered a method for analysis. Throughout different welding trajectories featuring sections containing curved and oblique trajectories, the analysis of the robotic arm is conducted. This study can contribute to effectively develop a welding robotic system in various manufacturing settings and can lead to improvements in quality by refining precision and reducing errors while also to drive cost reductions through the increased efficiency.
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