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FW Kinematic and Jacobian of Fanuc-Lr-Mate-200c
FW Kinematic and Jacobian of Fanuc-Lr-Mate-200c
1. Introduction
The Fanuc LR Mate 200iC is a six degrees of freedom electric servo-driven robot.
It has multiple mounting options as floor, tabletop, inside machines, angle and
invert, which maximizes flexibility for small and narrow workspaces. For these
reasons it that can be used for a wide variety of applications as machine tending,
material handling, assembly, picking and packing, part washing, dispensing,
testing and sampling, education and entertainment.
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Figure 2 – Standard dimensions and workspace of Fanuc 200iC and similar models.
2. Reference Papers
This paper aims to determine the angles of the joints of the robot and the
manipulator for the control system of a Fanuc LR Mate 200iC robot for a work
cycle. The prescribed motions of the robot and the manipulator were
simulated by computer. The results show that the curves computed are similar
but not equal for the first three joints of the robot and the manipulator.
II. JACOB, M. G.; LI, Y.; WACHS J. P. A Gesture Driven Robotic Scrub
Nurse.
In this paper a Fanuc LR Mate 200iC robot is used as a gesture driven robotic
scrub nurse (GRSN) reducing the workload of a human scrub nurse. The
accuracy of the robot was determined experimentally and in 95% of the times
it recognized and repeated the correct gestures and it is only 0.83 seconds
slower than the average of the human performance.
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3. Forward Kinematics
The forward kinematics involves the calculation of the position and orientation of
the end-effector in terms of the joint variables. One easy way to calculate the
forward kinematics is to use the D-H parameters. This method uses four
parameters: link length (a), link twist (α), link offset (d) and joint angle (θ) to
describe the kinematic model[4]. For the Fanuc LR Mate 200iC the D-H
parameters and the kinematic structure are showed in Table ! and in Figure 3,
respectively.
1 330 θ1 = 0º 75 -90º
2 0 θ2 = -90º 300 -180º
3 0 θ3 = 180º -75 90º
4 -320 θ4 = 0º 0 -90º
5 0 θ5 = 0º 0 90º
6 -80 θ6 = 180º 0 180º
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(1)
Where:
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4. Jacobian Matrix
The Jacobian matrix is used to determine the singularity conditions for the robots
through its determinant. Knowing these regions of singularities the paths of the
robot can be optimized. In this paper the vector method was used to calculate the
Jacobian matrix, as described in Equation 3.
=[ × × × …… − ×− −] (3)
=75
75330 3000 =75
=300 750
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= 0
0 0 10 = 0
0 01 0
= 0
0
6 = 6 6
06 0 6 10 0
0 1 0
The rotational and the position matrices related to the base frame were obtained
from the Equations 4 as detailed in Equations 5 and 6:
= 2,4
3,4
The next step is to determine zi, according to Equation 7.
(6)
=. (7)
Knowing that =001 , the other z values can be determined using Equation 7:
=0
=0 =.sin+ + . s i n +
. s i n
=.coscos cos
.
.
.
.
.
. si n .
=.cos. +cos +cos
.
.
.
.
si
si n
n
+
+ .
.
.
. c
c os
os
+ .
si n . .
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The evaluation of the robot has been done using the FANUC LR Mate 200iC
Model on the software Workspace LT® to create five points and then validating
these points numerically with Maple® Software as described in the following
pictures.
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6. Conclusions
This work provides information related to the forward kinematics for a FANUC LR
Mate 200iC and the Jacobian Matrix using the vector multiplication method. Also
provides the evaluation of the model validated by Workspace LT® software.
Determining those conditions is an important step in the improvement of the robot
model and the creation of integrated robotic systems for a wide range of
applications.
7. Other References
[1] ABDERRAHMANE, M. S.; DJURIC, A. M.; CHEN, W.; YEH, C. P. Study and
Validation of Singularities for a Fanuc LR Mate 200iC Robot. March, 2014.
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