NEW APPROACH FOR FORWARD KINEMATICS MODELING OF INDUSTRIAL ROBOTS WITH CLOSED KINEMATIC CHAIN

MODELING THE FORWARD KINEMATICS FOR ROBOTS THAT INCLUDE CLOSE KINEMATIC CHAIN STRUCTURES IS DIFFICULT. WHEN DENAVIT -HARTENBER (DH) FORMALISM IS APPLIED, USUALLY IT COMES TO A SIMPLER KINEMATIC MODEL THAT DOES NOT ALWAYS CORRESPOND WITH THE REALITY. IF MORE THAN SIMPLY KNOWING THE END EFFECTOR POSITION IS DESIRED, SUCH AS KNOWING THE POSITION OF THE PASSIVE JOINTS IN THE CLOSED KINEMATIC CHAIN, THE DH CONVENTION IS NO LONGER SUFFICIENT. IN THIS PAPER, A NEW METHOD IS PRESENTED FOR FORWARD KINEMATIC MODELING FOR A ROBOT WITH A CLOSED CINEMATIC CHAIN (ABB IRB 460), AN EXTENDED MODELING METHOD THAT TAKES INTO ACCOUNT ALL ROBOT JOINTS (INCLUDING PASSIVE ONES) AN D ALL THE ROBOT ELEMENTS (INCLUDING THOSE COMPOSING THE CLOSED CINEMATIC CHAIN). SUCH A MODEL PROVIDES BOTH POSITIONS OF THE END -EFFECTOR AND THE POSITIONS FOR ALL JOINTS (BOTH ACTIVE AND PASSIVE) AND CAN BE EASILY PARAMETERIZED TO TAKE INTO ACCOUNT SOME E RROR FACTORS (SUCH AS GEOMETRIC ERRORS AND THERMAL DEFORMATIONS) IN CASE IT IS DESIRED TO IMPLEMENT IT ON THE ROBOT CONTROLLER IN ORDER TO COMPENSATE THESE ERRORS.

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