Symbolic and Numerical Mathematical Modeling of the Jacobian of the Yaskawa Motoman - Gp7 Robot using Matlab©

Abstract

Igor Manoel Garbim Cruz, Kennedy Robert Sotana Bertoncelli, Tiago de Aguiar Souza, Rogerio Adas Pereira Vitalli

Robotic manipulators have besides static positioning problems, but besides static we have in the robot its speeds and forces applied in any kind of movement. one of the show important activities of robot motion control is the definition of its movements in the workspace. to perform these moves its joints need I ‘m moving and to define these positions in the spaces we need to calculate the direct kinematics and the opposite we call the inverse kinematics. The main objective of this paper is to present a study on velocity analysis, known as the Jacobian matrix. The methodology employed in this exploratory scientific research will ok developed from experimental tests, bibliographic references and case studies applied at the Advanced robotics Institute (IAR). the robot under study is the YASKAWA-MOTOMAN-GP7 present at the robotics Laboratory of the IAR. The work brings as contribution the implementation of the Denavit-Hartenberg notation and the validation of the Jacobian matrix of the robot. The results are the determination of the equations of the inverse kinematics using the method based on the inverse Jacobian matrix. The code was implemented in MATLAB© software capable of proving the developed mathematical model, which is applicable in industrial robots.

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