Comparative Analysis of Kinematic Model Predictions and Real Data for 6-DOF Robot KUKA KR4R600

This paper presents a comparative analysis of kinematic model predictions for a 6-DOF KUKA KR4 R600 robot with real measurements of intermediate points (x, y, z) in order to evaluate the accuracy and reliability of the kinematic model under real-world conditions. The kinematic model, which is a fund...

Full description

Saved in:
Bibliographic Details
Published inSystems of Signals Generating and Processing in the Field of on Board Communications (Online) pp. 1 - 6
Main Authors Voronova, Lilia I., Mohammad, Nawar F., Smolnikov, Victor A., Voronov, Vyacheslav I.
Format Conference Proceeding
LanguageEnglish
Published IEEE 12.03.2025
Subjects
6-DOF
6-DOF KUKA KR4 R600
Accuracy
Analytical models
Calibration
Denavit-Hartenberg
End effectors
Error analysis
kinematic model
Kinematics
manipulator
Predictive models
Reliability
robotic arm
Online AccessGet full text

Cover

More Information
Summary:This paper presents a comparative analysis of kinematic model predictions for a 6-DOF KUKA KR4 R600 robot with real measurements of intermediate points (x, y, z) in order to evaluate the accuracy and reliability of the kinematic model under real-world conditions. The kinematic model, which is a fundamental tool in robotics, is used to calculate the position and orientation of the robot end effectors based on joint angles. The results of this analysis can provide valuable insights into potential sources of error and limitations of the kinematic model, as well as provide a basis for future improvements in robot calibration and control.
ISSN:2768-0118
DOI:10.1109/IEEECONF64229.2025.10948030