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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 KR 120 R2100 industrial robot model

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.

Workcell layout with three robot stations

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