Kinematics and Dynamics Analysis of a 7-Degree-of-Freedom Collaborative Robot with Joint Limitation Avoidance

Abstract

These days, collaborative robots (Cobot) are well-known for their adaptability and several uses. With a 7-degree-of- freedom cobot model, the work emphasises more the flexibility as a benefit to overcome the joint constraints usually faced in robotic systems. Applying the Jacobian matrix approach with its null-space helps one to consider the kinematics and dynamics issue in order to prevent joint limitation. Whereas orientation is stated using Roll-Pitch-Yaw angles, the inverse kinematics problem involves parameterising the robot's end-effector by its position in Cartesian coordinates. By means of the null space of the Jacobian matrix, one can escape joint constraints in robotic mobility. Emphasising great accuracy in computations with two path planning: rectilinear and curved path, this research offers a thorough study of the trajectory tracking control dynamics. Different modules and simulation results of various challenges have been numerically implemented in MATLAB-Simulink and the ROS environment to show the efficiency of the suggested method after analysis of the computations.