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6-DOF serial robot kinematics

Kinematic study of three cooperative KUKA KR 120 robots for a hot-forging transfer line.

Academic robotics project developed as a team of three.

  • MATLAB
  • Robotics toolbox
  • DH kinematics
  • Jacobian
  • Trajectory planning
KUKA Quantec industrial robot used in the 6-DOF kinematics study

Industrial application

Proposed three serial robots with ON/OFF grippers to transfer a forging part across three hot-press stations. The study focused on kinematics and trajectory feasibility under shop-floor constraints, without dynamic modeling.

Task-space simulation with three 6-DOF robots and transfer stations
Task-space layout used for reachability and transfer planning.

Kinematic analysis

Derived forward and inverse kinematics with DH parameters, Jacobian-based velocity mapping, and singularity detection for the 6-DOF manipulator.

DH parameter frame assignment for the KUKA robot
Denavit–Hartenberg frame definition.

Trajectory planning

Planned cooperative transfer motions in the workcell and generated position, velocity, and acceleration profiles for validation in simulation (MATLAB robotics toolbox).

Overview of planned robot trajectories in the cell
Joint position, velocity, and acceleration profiles