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Modeling and analysis of a 6 DOF robotic arm manipulator

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Canadian Journal on Electrical and Electronics Engineering Vol. 3, No. 6, July 2012

Modeling and Analysis of a 6 DOF Robotic Arm

Manipulator

Jamshed Iqbal, Raza ul Islam, and Hamza Khan

Abstract — The behavior of physical systems in many geometric and time based properties of the motion and in
situations may better be expressed with an analytical model. particular how various links of a robot move with respect to
Robot modeling and analysis essentially involve its one another and with time. It provides an analytical
kinematics. For robotic manipulators having high Degrees Of description of the spatial movements of a robot i.e. a
Freedom (DOF) with multiple degrees in one or more joints, relationship between position and orientation of robot end-
an analytical solution to the inverse kinematics is probably effector and its joint variables. The problem of kinematic
the most important topic in robot modeling. This paper modeling is usually categorized into two sub-problems. First
develops the kinematic models a 6 DOF robotic arm and is the forward or direct kinematics, which is the problem of
analyzes its workspace. The proposed model makes it possible solving the Cartesian position and orientation of a
to control the manipulator to achieve any reachable position mechanism, given the knowledge of the kinematic structure
and orientation in an unstructured environment. The forward and the joint coordinates. The second sub-problem is Inverse
kinematic model is predicated on Denavit Hartenberg (DH)
Kinematics (IK), which computes the joint variables using the
parametric scheme of robot arm position placement. Given
given information of a robot’s end-effector position and
the desired position and orientation of the robot end-effector,
orientation. In case of serial robotic arms, IK problem is
the realized inverse kinematics model provides the required
corresponding joint angles. The forward kinematic model has more complex than direct kinematic problem [1].
been validated using Robotics Toolbox for MATLAB while the Kinematic modeling of robots also benefits the industrial
inverse kinematic model has been implemented on a real automation processes by making them semi-autonomous or
robotic arm. Experimental results demonstrate that using the even fully autonomous. Because of the task nature and
developed model, the end-effector of robotic arm can point to operational environment, the industrial robots are usually
the desired coordinates within precision of ±0.5cm. The composed up of series of rigid links mounted on a base. They
approach presented in this work can also be applicable to operate in a manner similar to that of the human arm. A 6
solve the kinematics problem of other similar kinds of robot Degree Of Freedom (DOF) robotic arm manipulator is widely
manipulators.1 used in the industry. The most common applications of
industrial robots include Spot welding, Spraying, Assembling
Key Words — Modeling of robot; Robot kinematics; Robotic and Manufacturing. Many of these applications actually
system simulation; Analysis of Serial mechanism. require accomplishment of pick and place task.
Implementation of this task essentially necessitates having the
I. INTRODUCTION kinematic model of the robotic arm being employed.
Analytical prediction of the behavior of physical systems in In the area of robot modeling and simulation, kinematics is
many key situations is either extremely complicated or even a rigorously researched topic. Scientific community reports
impossible. Driven with the constraints to prototype a various robot modeling and analysis techniques. These are
physical system, modeling finds enormous motivations to usually based either on line transformation or point
study and investigate the performance of a system. transformation, the later being used more commonly for robot
Modeling a robot involves study of its kinematic behavior. modeling. Clothier et al. [2] proposed a geometric model to
A kinematic model is concerned with the robot’s motion solve the unknown joint angles required for autonomous
without considering forces producing the motions. The positioning of a robotic system. A new method, quaternion
kinematics of a robotic arm deals with the study of the algebra, for solution of forward kinematic problem was
derived by Sahu et al. [3]. Popovic et al. [4] developed a
1
J. Iqbal is with Robotics and Control Research (RCR) Group, strategy to analyze the upper extremity movement of the arm
COMSATS Institute of Information Technology (CIIT), Islamabad, Pakistan
(e-mail: [email protected]). while complete body kinematics of a radial symmetrical six-
R. ul Islam is with Robotics and Control Research (RCR) Group, legged robot was presented by Wang et al. [5]. A
COMSATS Institute of Information Technology (CIIT), Islamabad, Pakistan mathematical approach to analyze kinematics of a humanoid
(e-mail: [email protected]).
H. Khan is with Department of Advanced Robotics, Istituto Italiano di robot was reported in [6]. Cubero [7] proposed an IK model to
Tecnologia (IIT), Via Morego 30, 16163 Genova, Italy (e-mail: solve all the joint variables of a serial arm manipulator of any
[email protected]). type. This model was based on forward kinematic solution. A

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Canadian Journal on Electrical and Electronics Engineering Vol. 3, No. 6, July 2012

virtual model robot having forward and inverse kinematic The overall system (Figure 2) consists of the robot, its
solutions was reported by Kuma in [8]. controller interfaced with a standard PC and a teaching
This paper first presents kinematic model of the robot in pendant. The function of the controller (ED-Mark
(ED IV) is to
Section II. The robot has been modeled for its forward provide ports for encoded motors to optically drive the robot.
kinematics as well as IK. Section III discusses validation of The controller has more than 100 higher level kernel
forward kinematic model using MATLAB toolbox for commands that make the platform versatile. The controller
robotics while Section IV presents the results of workspace can be operated in either of the two modes: host controlled or
analysis of the robotic arm. Implementation of IK model on through teaching pendant. Pendant is the instructional pad for
the real robot is discussed in Section V. Finally Section VI manual commanding the robotic arm. This is used to let the
comments on conclusion. robot learn about any reachable coordinates. The taught points
can be saved in the controller for later retrieval
ret and command
execution. However, the robot has to be taught every time
II. KINEMATIC MODEL provided the location of the object to be manipulated is
The robotic
tic platform used in the present work is a 6 DOF changed. In an attempt to make this robotic arm autonomous,
robotic arm manipulator ED7220C developed by ED an image-guided
guided robotic system has been conceived and
Corporation, Korea. The robotic arm has been extensively presented in [9].
used in research, development and teaching. It is basically a
serial manipulator having all joints as revolute. The arm
geometrical configuration is made up of waist, shoulder,
elbow and wrist in correspondence with the human arm joints
(Figure 1). Each of these joints except the wrist has a single
DOF. Wrist can move in two planes (roll and pitch), thus
making the end-effector
effector more flexible in terms of object
manipulation. Constructed in a vertical articulated fashion, the
robot offers visual observation of the mechanical behavior of
each joint at a glance. The arm is fully-actuated
actuated with each
DOF achieved by a precise servo motor (DME 38B50G 38B50G-115)
equipped with an optical encoder. The end-effector
effector is a two
two-
state gripper having rubber pads. The built in mechanical Fig. 2. Arm shown with other system components.
safety limits restrict the joint motion in case something in the
control algorithm goes wrong. TABLE I lists salient features
of the robotic arm ED7220C. A. Forward Kinematic Model
The study of kinematic problem of a robot can be carried
out by different methods. Two commonly used methods are
based on Denavit-Hartenberg
Hartenberg (DH) parameters
pa and successive
screw displacements. Both methods are systematic in nature
and more suitable for modeling serial manipulators. Also
geometric methods are frequently used by some researchers
for the serial manipulators of relatively simple geometry [10].
DH method has been used to develop the kinematic model of
the robot in this work because of its versatility and
acceptability for modeling of any number of joints and links
of a serial manipulator regardless of complexity.
Figure 3 illustrates the simplified
implified kinematic model of the
Fig. 1. Joints configurations in ED7220C. robotic arm in an inverted ‘L’ pose. The first three joints are
used to move the tool point to its desired position, while the
TABLE I. last two joints adjust the orientation of the end-effector.
end Link
SALIENT FEATURES OF ED7220C
lengths mentioned in Figure 3 arere tabulated in TABLE II.
Feature Description
Position precision ±0.5mm (approx.)
Movement speed 100mm/s (max.)
Load capacity 1 Kg
Weight 33 Kg
Wrist - Pitch: 260°, Roll:360°
Range Of Motion Elbow: 172°
(ROM) Shoulder: 90°
Waist: 310°

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Canadian Journal on Electrical and Electronics Engineering Vol. 3, No. 6, July 2012

each link (expressing joint i in its previous neighboring joint

i-1)) derived in [11], the corresponding transformation
matrices for each link of the robotic arm have been written.
Based on the compound transformation property, these
individual transformation matrices when multiplied yield the
overall matrix representing the end-effector
end of the robot in
terms of its base (1).

                %

               % (1)
 ,
      *
0 0 0 1
Where
A =  S2+ S23+
+  C234
Fig. 3. ED7220C — Kinematic model. B =    C2 C23 S234
In (1), the 3X3 matrix comprising of first three rows and
TABLE II. first three columns is the rotation while the last column
ED 7220C — LINK LENGTHS represents the position (x, y, z) of the end-effector
end w.r.t. base.
Joint Waist Shoulder Elbow Wrist
Symbol L1 L2 L3 L4 B. Inverse Kinematic Model
Link Length [mm] 385 220 220 155 IK model finds more potential applications in practical
robotic systems. IK model computes the joint angles required
DH works with quadruple {αi-1, ai-1, di, θi} which to achieve the given position and orientation. Not only in
represents twist angle, link length, link offset and joint angle robotics, IK finds its importance in other fields like for
respectively. Following DH convention, an orthonormal example 3D games. In contrast to the forward kinematics, IK
coordinate system has been attached to each link of the does not have a unique solution. The solutions which ensure
manipulator (Figure 4). TABLE III lists DH parameters for collision-free
free operation and minimum joint motion are
the robotic arm ED7220C. considered more optimum.
Analytical approach has been followed to develop IK
model of ED7220C. This approach ensures that for any object
within robotic arm workspace (Section IV), the model
determines correct joint angles. The first four joint angles i.e.
waist (θ1), shoulder (θ2), elbow (θ θ3) and tool pitch (θ4) are
calculated using this approach while tool roll (θ( 5) is directly
given by the desired orientation for object manipulation.
Since transformation involves rotation as well as
translation, so the general form of the transformation matrix
from tool to base is given by (2).

   )
   )
   -
!"#$
   )
(2)
0 0 0 1
Fig. 4. ED7220C — Coordinate assignment.
Where the first 3x3 matrix and (px, py and pz) representing
TABLE III. the rotation and the translation of end-effector
end w.r.t base of
ED 7220C — DH PARAMETERS the robot in an IK problem are known.
Symbol Joints (i) The developed analytical IK model after intensive


1 2 3 4 5 6 mathematical computations yields equations (3), (9), (12) and


0 -90° 0 0 -90° 0 (13) for the joint angles θ1, θ3, θ2 and θ4 respectively. These

0 0 L2 L3 0 0
equations express the required joint angles
angl in terms of given

L1 0 0 0 0 L4
coefficients of (2).
θ1 θ2 - 90° θ3 θ4 θ5 0

  %&2()
) , ) / (3)
Using the general form of the transformation matrix for
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Canadian Journal on Electrical and Electronics Engineering Vol. 3, No. 6, July 2012

0  1   0  (4) Fig. 5. Plot for joint angle configuration [0 0 0 0].

1   (5) Considering another joint configuration [t1 t2 t3 t4] as [90°

  %&2(0 , 1 /

90° -90° -90°], the position and orientation of the end-effector
1
(6) expressed in the base coordinates, as computed from model as
(1 )  0 )  2 0 /  ()  2  2 1 /  2   2  (7)

well as MATLAB Toolbox has been found to be

22 2 0 1 0 0
1 0 0 220
   ,

0  ±41  1  0 0 1 760
0 0 0 1
(8)

  %&2(0 , 1 / (9)

1
Figure 6 shows MATLAB plot for this joint configuration.
51 )  0 )  2 0 6(1 2  2 /  ()  2  2 1 /0 2

(1 2  2 /  0  2 
(10)

0
z
y
800

51 )  0 )  2 0 60 2  ()  2  2 1 /(1 2  2 /

x

600


400

(1 2  2 /  0  2 
(11)

Z [mm]
200
0

  %&2(0 , 1 /
ED7220C
-200
-400

(12) 400

      
200
0 500
0
Y [mm] -200 -500
(13) -400
X [mm]

Fig. 6. Plot for joint angle configuration [90°° 90°° -90°° -90°°].

III. VALIDATION OF FORWARD KINEMATIC MODEL Figure 7 shows the plot for joint angle configuration [t1 t2 t3
The forward kinematic model has been validated using t4] as [0 90° 90° 0] with the forward transformation as

0 0 1 65
Robotics Toolbox for MATLAB. Numerical results together

0 1 0 0
  ,
with visual plot of position and orientation of a robot in

1 0 0 165
MATLAB environment gives clear insight of the kinematic

0 0 0 1
behaviour of a robot. Given various angle set as input to the
developed forward kinematics model (1) and MATLAB
toolbox, corresponding results have been compared and
plotted.
400
Considering joint angle configuration [t1 t2 t3 t4] as [0 0 0 0]; 300

the position and orientation of the end-effector expressed in 200

Z [mm]

y
100
the base coordinates, as computed from (1) is z

0 0 1 155
0
ED7220C
-100

0 1 0 0
   ,
-200

1 0 0 825
500 400
300
0 200

0 0 0 1
100
Y [mm] -500 0
-100
-200 X [mm]
-300

Fig.7. Plot for joint angle configuration [0 90°° 90°° 0].

Using the command ‘fkine’ in MATLAB Toolbox for

Robotics, the same result has been obtained. The
IV. WORKSPACE ANALYSIS
corresponding MATLAB plot for this joint configuration is
illustrated in Figure 5. With technological advancements in robotics and rapid
increase in the trend to employ robots in various applications,
800 the workspace of a robot has also become a primary
600
400
x

y
z
performance parameter in addition to its speed, accuracy and
200 weight. The workspace of a robot, also termed as its work
Z [mm]

0
-200 envelope, actually expresses a robot’s ability to reach specific
ED7220C
-400

-600
area. Given the information about Range Of Motion (ROM)
-800 of joints of a robot and length of its links, workspace can be
500 determined. The ROM of ED7220C joints are mentioned in
0
Y [mm] -500
200 300
TABLE I while the link lengths are given in TABLE II.
-300 -200 -100 0 100
X [mm]
With these link lengths and ROM information of each joint
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Canadian Journal on Electrical and Electronics Engineering Vol. 3, No. 6, July 2012

of the robotic arm, the robot workspace has been found outside the work envelope, the algorithm terminates after
mathematically using equation (1). Figures 8 and 9 illustrate prompting user. Otherwise IK model computes the required
the robot workspace
ace in XY and XZ coordinates respectively. joint angles pointing the end-effector
effector as per given position
pos
As shown in Figure 8, the arm has a manipulation ability and orientation. These joint angles are then mapped to low-
low
inside a circular radius of 580 mm. ROM constraints in the level encoder ticks. Finally the Kernel based instructions in
body joint restricts the robot functionality in the region shown the program execute the command by moving the motors as
as ‘V’ in the Figure. per mapped encoder ticks. The flow chart of model
implementation is presented
nted in Figure 11.

580 mm

Fig. 8. Workspace in XY.

Fig. 11. IK model implementation.

To implement the developed IK model on the robotic arm,

. it has been ensured that the object (a car key with a key-chain)
key
Fig. 9. Workspace in XZ. lies within the robotic arm workspace. For this purpose, the
platform on which the object has been placed is raised (in
The corresponding 3D MATLAB plot is illustrated in height z) by placing two blocks as shown in Figure 12. The
Figure 10. task chosen is basically picking an object from one location
and placing it onto another. Both the source and destination
position andd orientation have been given as an input.
Figure 12a illustrates the arm at its ‘home’ position (with
all encoder values as zero). Based on the object coordinates
given by the user, the robot moves as per computed joint
angles (by IK model). Figure 12(b-d) d) shows the motion of the
robot toward the object. After reaching the target location, the
gripper of the robot closes ultimately grasping the object.
Sequence of pick-upup of the object is shown in Figure 13(a-b).
13(a
The robot then moves (Figure 14a-b) 14a toward destination
point, whose coordinates have also been taught by the user.
The destination point should also lie inside the operational
Fig. 10. 3D Workspace.
workspace of the robot. After reaching that location, the robot
drops the object (Figure 15a-d)
d) and then finds its way back
ba to
the home position (Figure 16a-b).
V. IMPLEMENTATION OF IK MODEL ON REAL ARM
Write IK model implementation here. The IK model has
been implemented on the real robotic arm manipulator. An
object has been placed at a known position and orientation.
With this known information from a user, the developed
algorithm first checks if the object
bject lies inside the robot
workspace as demonstrated in Section IV. If the object is

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Canadian Journal on Electrical and Electronics Engineering Vol. 3, No. 6, July 2012

(a) (b) (a) (b)

(c) (d) (c) (d)

Fig. 12. Moving from ‘Home’ position to the object. Fig. 15. Placing the object.

(a) (b) (a) (b)

Fig. 13. Picking the object. Fig. 16. Moving back to ‘Home’ position.

VI. CONCLUSION
A widely used 6 DOF robotic arm manipulator, ED7220C
has been kinematically modeled followed by the analysis of
its workspace. Forward kinematic model has been validated
using MATLAB. The results from the derived forward
kinematic model match exactly with that of MATLAB. The
IK model of the robot has also provided correct joint angles to
move the arm gripper to any position and orientation within
its workspace. The IK model has been implemented on the
real robotic platform. Results obtained from the model have
(a) (b) been compared with the actual performance of the robot in
Fig. 14. Moving to destination position. accomplishing a task e.g. pick and place. It has been found
that with the joint angles computed by IK model, the robot
achieves position precision within ±0.5cm. This little

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Canadian Journal on Electrical and Electronics Engineering Vol. 3, No. 6, July 2012

deviation is because of many reasons namely, reported Computational Intelligence, Control and Computer Vision in Robotics
& Automation, pp. 76-82, 2008.
platform precision (±0.5mm as mentioned in TABLE I), [4] Popovic N., Williams S, Schmitz-Rode T., Rau G., Disselhorst-Klug C.,
mechanical coupling of the joints, non-linearity in mapping “Robot-based methodology for a kinematic and kinetic analysis of
angles to low-level encoder ticks. The strategy presented in unconstrained, but reproducible upper extremity movement”, Journal of
Biomechanics, Vol. 42 No. 10, 2009.
this paper may also be used to model and analyze other 6
[5] Wang Z., Xilun D., Alberto R. and Alessandro G., “Mobility analysis of
DOF robotic arms. the typical gait of a radial symmetrical six-legged robot”, Mechatronics,
Vol. 21, No. 7, pp. 1133-1146, 2011.
[6] Man C., Fan X., Li C. and Zhao Z., “Kinematics analysis based on
screw theory of a humanoid robot”, Journal of China University of
ACKNOWLEDGMENT Mining & Technology, Vol. 17 No. 1, pp. 49–52, 2007.
The authors will like to appreciate and personally thank [7] Cubero S., “An inverse kinematics method for controlling all types of
serial-link robot arms, Mechatronics and Machine Vision in Practice,
Sarah Manzoor, Aayman Khalid and Sana Khan for their Springer-Verlag, Berlin, pp. 217-232.
significant contribution in developing kinematic model of the [8] Kuma R., Kalra P and Prakash N., “A virtual RV-M1 robot system”,
robotic arm. Robotics and Computer-Integrated Manufacturing, Vol. 26 No. 6, pp.
994-1000, 2011.
[9] Raza ul Islam, J. Iqbal, S. Manzoor, A. Khalid and S. Khan, “An
REFERENCES autonomous image-guided robotic system simulating industrial
[1] Mark S., Seth H. and Vidyasagar M., "Robot modeling and control", applications”, 7th IEEE International Conference on System of Systems
John Wiley & Sons, 2006. Engineering (SoSE), Genova, Italy, pp. 314-319, 2012.
[2] Clothier K.E. and Shang Y, “A geometric approach for robotic arm [10] Tsai L.W., “Robot Analysis: The mechanics of serial and parallel
kinematics with hardware design, electrical design and manipulators”, John Wiley & Sons, Feb. 1999.
implementation”, Journal of Robotics, Article ID 984823, Vol. 2010. [11] J. J. Craig, “Introduction to robotics: Mechanics and control”, Prentice
[3] Sahu S., Biswal B. and Subudhi B., “A novel method for representing Hall, 2nd edition, pp.84.
robot kinematics using quaternion theory”, IEEE Conference on

BIOGRAPHIES

Jamshed Iqbal is working as an Assistant Professor and head of Robotics and

Control Research (RCR) group in Electrical Engineering Department of
COMSATS, Islamabad, Pakistan. Prior to joining COMSATS, he was
working as a Researcher in Italian Institute of Technology (IIT), Italy. He
holds PhD in Robotics from IIT, Italy and three Master degrees in various
fields of Engineering from Finland, Sweden and Pakistan. With more than 8
years of multi-disciplinary experience of industry and academia, Dr. Iqbal has
a strong record of reputed publications and is a reviewer of many international
conferences and journals. His research interests include robot analysis and
design of rehabilitation robots and industrial manipulators.

Raza ul Islam is a Master student at Electrical Engineering Department of

COMSATS, Islamabad, Pakistan. He holds Bachelor in Electronics from the
same institute. His research interests include robotic vision and Human Robot
Interaction (HRI).

Hamza Khan is a Doctoral candidate at Department of Advanced Robotics,

Italian Institute of Technology (IIT), Genova, Italy. He holds two Master
degrees in Robotics from Italy and Poland. His interests include dynamic
walking and mechanism design for quadruped robots.

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