INVERSE KINEMATICS SOLUTION FOR 6 DEGREE OF

FREEDOM OF FANUC LR MATE 200IB ROBOT

Mohd Khafizuddin Bin Khairuddin
Bachelor of Mechatronic Engineering
May 2010

I hereby declare that I have read through this report entitle Inverse Kinematics
Solution For 6 Degree of Freedom of Fanuc LR Mate 200iB Robot and found that it
has comply the partial fulfillment for awarding the degree of Bachelor of Mechatronics
Engineering

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Supervisors Name

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Date

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INVERSE KINEMATICS SOLUTION FOR 6 DEGREE OF FREEDOM OF

FANUC LR MATE 200IB ROBOT

MOHD KHAFIZUDDIN BIN KHAIRUDDIN

A report submitted in partial fulfillment of the requirements for the degree of

Bachelor of Mechatronics Engineering

Faculty of Electrical Engineering

UNIVERSITI TEKNIKAL MALAYSIA MELAKA

2010

I declare that this report entitle Inverse Kinematics Solution For 6 Degree of Freedom
of Fanuc LR Mate 200iB Robot is the result of my own research except as cited in the
references. The report has not been accepted for any degree and is not concurrently
submitted in candidature of any other degree.

Signature

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Name

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Date

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ACKNOWLEDGEMENT

Alhamdulillah, finally the Final Year Project 2 (FYP 2) is complete. There are
several people I would like to acknowledge for their assistance and support over the
FYP 2 which is compulsory to all UTeM students to pass before awarded the degree.
First of all, I would like to sincerely thank to my project supervisor, Pn Irma
Wani bt Jamaludin for undivided support morally and physically, assistance, guidance,
tolerance, which proved to be invaluable as to the completion of my FYP 2. I would like
to also express my gratitude to the panels, Muhammad Herman bin Jamaluddin and
Mohd Razali bin Mohamad Sapiee, who give me a good comment during my
presentation.
Thanks are also extended to my family and friends for their patients,
understanding and also for their undivided support that they had gave me throughout the
completion of my project. Last but not least, I also would like to thank all those helping
and supporting me directly and indirectly during my Final Year Project 2.

ABSTRACT

This project develops an algorithm for solving the inverse kinematics equation.
The inverse kinematics equation is solving to determine angles ( ) of rotation linkages
of the three main axes of the robot by using programming software for 6 DOF of Fanuc
LR Mate 200iB robot called ivFanuc. The process involves the control of parameter
known as the value of the final position and orientation of the robot. This parameter is
determined by user before solve the inverse kinematics equation. Its inverse kinematics
problem will be solved by using conventional method and simulation. Both results will
be compared to ensure the algorithm that was developed is correct and can be used for
solving the inverse kinematics equation. The GUI was designed which ask user to insert
the position and then the software will show the theta ( ). The correct output of
interface prove that this command can be used for solves the inverse kinematics
equation. Overall, this project will describe the technique, calculation, method and
algorithm on how the inverse kinematics is solved.

ABSTRAK

Projek ini membangunkan algoritma untuk menyelesaikan permasalahan

kinematik songsang. Permasalahan kinematik ini diselesaikan untuk menentukan sudut
putaran bagi 3 paksi dengan menggunakan perisian untuk robot Fanuc LR Mate 200iB
yang dipanggil ivFanuc. Proses yang terlibat ialah kawalan terhadap parameter iaitu
nilai pada kedudukan dan pergerakan akhir robot itu. Parameter ini akan ditentukan oleh
pengguna bagi menyelesaikan permasalahan kinematik tersebut. Permasalahan
kinematik akan diselesaikan menggunakan kaedah konvensional dan simulasi. Keduadua hasil akan dibandingkan untuk memastikan bahawa algoritma yang dibangunkan
berjaya dan boleh digunakan untuk menyelesaikan permasalahan kinematik. Seterusnya,
pengantara muka telah direka di mana pengguna akan diminta untuk memasukkan nilai
kedudukan dan kemudian memberikan sudut yang dimahukan. Hasil yang tepat dari
pengantara muka ini membuktikan bahawa pengantara muka ini boleh digunakan untuk
menyelesaikan permasalahan kinematik. Secara keseluruhannya, projek ini menerangkan
tentang teknik, pengiraan, kaedah dan algoritma bagaimana permasalahan kinematik
diselesaikan.

TABLE OF CONTENT

CHAPTER

CONTENT

PAGE

ACKNOWLEDGEMENT

ABSTRACT

ii

TABLE OF CONTENT

iv

LIST OF TABLES

vi

LIST OF FIGURES

vii

LIST OF ABBREVIATIONS

viii

INTRODUCTION

1.1

Background of the Project

1.2

Problem Statement

1.3

Objective

1.4

Scope

LITERATURE REVIEW

2.1

Forward Kinematics

2.1.1

Denavit Hartenberg Representation

2.2

Inverse Kinematics

2.3

Kinematics Analysis Program (KAP)

10

2.4

Fanuc LR Mate 200iB

12

PROJECT METHODOLOGY

14

3.1

Overview

14

3.2

Study and research

16

3.3

Programming software

16

3.4

Design Software for Forward Kinematics

17

3.4.1

Manual Calculation for Forward Kinematics

17

3.4.2

Design the Software by Using Matlab

20

3.5

Design and Develop GUI for Inverse Kinematics

22

3.5.1

Set the Data of Link

22

3.5.2

Set the Initial Value of Theta

23

3.5.3

Set the Initial Final Position

23

3.5.4

Use fkine

24

3.5.5

Use ikine

24

3.5.6

Set the Range of Theta

25

3.5.7

Plot Robot

25

RESULT AND ANALYSIS

26

4.1

Overview

26

4.2

Features of ivFanuc

26

4. 3

Analysis of Data

28

4.3.1

Home Position

29

4.3.2

Data 1

30

4.3.3

Data 2

31

DISCUSSION

33

CONCLUSION

35

REFERENCE

37

APPENDIX

38

LIST OF TABLES

TABLE

TITLE

PAGE

2.1

Robot DH-parameter table

12

3.1

DH parameter for Fanuc LR Mate 200iB

17

4.1

Data Analysis

29

4.2

Percentage Errors

29

LIST OF FIGURES

FIGURE

TITLE

PAGE

1.1

Fanuc LR Mate 200iB

2.1

Link Parameter

2.2

Kinematic Decoupling

2.3

Functional Block Diagram of KAP

11

2.4

Fanuc LR Mate 200iB workspace

13

3.1

Flow of the Project Methodology

15

4.1

GUI of ivFanuc gripper

27

4.2

Plot Robot

28

4.3

Home Position

30

4.4

Data 1

31

4.4

Data 2

32

LIST OF ABBREVIATIONS

DH

Denavit-Hartenberg

DOF -

Degree of Freedom

GUI

Graphical User Interface

KAP -

Kinematics Analysis Program

EOAT -

End-of-arm-tooling

LIST OF APPENDICES

NO.

TITLE

PAGE

Appendix 1

Project Planning

39

Appendix 2

Fanuc LR Mate 200iB robot specification

41

Appendix 3

Command for Forward Kinematics Software

43

Appendix 4

Command for ivFanuc

46

CHAPTER 1

INTRODUCTION

The Inverse Kinematics Solution for 6 Degree of Freedom of Fanuc LR Mate

200iB Robot project is to identify and develop software and design graphical user
interface (GUI) to determine the angle of each joints after the final position of the Fanuc
robot is inserted by user. Figure 1.1 shows the Fanuc LR Mate 200iB robot. The GUI
will be used and help the user to calculate the inverse kinematics problem for 6 DOF of
Fanuc LR Mate 200iB robot. This chapter will discuss about the background of the
project, the problem statement, objective and scope of the project.

Figure 1.1 Fanuc LR Mate 200iB

2
1.1

Background of the project

Today robots are used in every walk of human life. All over the world, robots are

on the move. As the robots grow tougher, nimbler, and smarter, todays robots are doing
more and more things human cannot or do not want to do. In order to co-operate with a
human, a robot should have a humanlike behavior when moving. Then, the robot can act
in a world made for humans and does not perform movements which cannot be
anticipated by the human partner. To achieve this, it is necessary to give the robot human
like configuration and human like kinematics.
Robotics is a multidisciplinary, highly mathematical topic usually taught at the
graduate level. A typical course will start with a review or introduction of mathematical
concepts, then on to kinematics of robot manipulators, followed by elements of
dynamics and control that still rely heavily on the kinematics portion of the course. [1]
Kinematics is one of the most important aspects of robots movement and it is
essential to understand the concept to analyze the complex movements of a robot and the
operations it can perform. The human like shape and configuration of the robot enables
the robot to co-operate with the human partner the same way humans co-operate with
each other. Therefore, the robots arm moves like a human arm and interacts with a
human by physical means.
In order to solve the kinematics problem, a conventional method which has a lot
of complexity equation and calculation must be applied. However, it is hard to be
implemented in practice even many industrial robots are built with simple geometries to
simplify the associated kinematics computations such as Fanuc LR Mate 200iB robot.
It is now well accepted that the use a package of software is the best options to
solve the inverse kinematics problem. In this project, a GUI will be designed for solving
the inverse kinematics problems which focus only for Fanuc LR Mate 200iB robot. The
advantage of this software is to minimize time for solving the inverse kinematics.

3
1.2

Problem statement
Many industrial robots are built with simple geometries such as intersecting or

parallel joint axes to simplify the associated kinematics computations. The mathematical
complexity of solving robots of general architecture detracts instructors and students
from using robots with arbitrary structures in illustrative examples and assignments.
This is also one of the major problems for the 6 DOF of an industrial robot which is to
solve the inverse kinematics.
The inverse kinematics problem is much more interesting and its solution is more
useful. It does the reverse of forward kinematics. Given the end point of the structure,
what angles do the joints need to achieve that end point? At the position level, the
problem is stated as, "Given the desired position of the robot's hand, what must be the
angles at all of the robots joints?" Humans solve this problem all the time without even
thinking about it. When you are eating your cereal in the morning you just reach out and
grab your spoon. You don't think, "My shoulder needs to do this, my elbow needs to do
that, etc." So, we will look how most robots have to solve the problem. [2]
Solving the inverse kinematics problem need a lot of calculation when using
conventional method. The complexity of formulation and computational burden make
this method hard to be implemented in practice which also will waste a lot of time.
Therefore, a new method of solution must be developed to solve the inverse kinematics
equation such as using software programming.
A software package that eases the kinematics study of robots also provides
computer assistance and time savings in all associated areas of robotics. While the
forward kinematics is fairly easy and always leads to a unique solution, the inverse
kinematics is far more mathematically involved and usually leads to several solutions.
The inverse kinematics of high degree of freedom manipulators is one of the hardest
problems in robotics.

4
1.3

Objective
The objectives of this project are to solve an inverse kinematics for 6 DOF of

Fanuc LR Mate 200iB robot. In order to solve the problem, the algorithm will be
develop and then the programming software will be identify and develop which is to
design the graphical user interface. Specifics objectives of this project are:
1. To calculate inverse kinematics solution.
2. To develop an algorithm of inverse kinematics solution.
3. To design a graphical user interface (GUI) for inverse kinematics for 6 DOF of
Fanuc LR Mate 200ib robot.

1.4

Scope
In general, this project is to identify and develop the programming software for

solving the inverse kinematics problem which focuses only for 6 DOF of Fanuc LR
Mate 200iB robot. Thus, it cannot be apply to other type of robot unless both program
and interface is modified.
To solve the inverse kinematics problem for 6 DOF of Fanuc LR Mate 200iB
robot, the programming software will be identify whether it is suitable for solve the
inverse kinematics. Then, an algorithm will be developed. At the end the GUI will be
developed to solve the inverse kinematics problem.
Type of programming software for develops an algorithm and GUI is already
identified. MATLAB is chosen for design and develop an algorithm and GUI.

CHAPTER 2

LITERATURE REVIEW

In this chapter, a review of previous research project that are related of this
project will be discussed. The information about forward and inverse kinematics and
Fanuc LR Mate 200iB robot are also described in this chapter.

2.1

Forward Kinematics
The forward kinematics problem is concerned with the relationship between the

individual joints of the robot manipulator and the position and orientation of the tool or
end-effector. Stated more formally, the forward kinematics problem is to determine the
position and orientation of the end-effector, given the values for the joint variables of the
robot. The joint variables are the angles between the links in the case of revolute or
rotational joints, and the link extension in the case of prismatic or sliding joints.
In order to describe the location of each link relatives to its neighbors we define a
frame attached to each link. The link frames are named by number according to the link
to which they are attached. That is, frame { i } is attached rigidly to link i . To locate
frames on the links, this convention is used: The Z-axis of frame { i }, called Z i is
coincident with the joint axis i . The origin of frame { i } is located where ai
perpendicular intersects the joint i axis. X i points along ai in the direction from joint i to
joint i 1 [3].

6
In the usual case of revolute joint, i is called the joint variable, and the other
three quantities would be fixed link parameters. For prismatic joints, d i is the joint
variable and the other three quantities are fixed link parameters. The definition of
mechanism by means of these quantities is a convention usually called DenavitHartenberg (DH) notation [3].

2.1.1 Denavit Hartenberg Representation

Figure 2.1: Link Parameter.

A commonly used convention for selecting frames of reference in robotic
applications is the Denavit-Hartenberg, or DH convention. In this convention, each
homogeneous transformation

Ai

is represented as a product of four basic

transformations. The procedure based on the DH convention in the following algorithm

for deriving the forward kinematics for any manipulator are summarize as below [4]:

7
Step l : Locate and label the joint axes z0 ,...., zn 1 .
Step 2 : Establish the base frame. Set the origin anywhere on the z0 -axis. The x0 and
y0 axes are chosen conveniently to form a right-hand frame. For i 1,...., n 1 ,
perform Steps 3 to 5.
Step 3 : Locate the origin Oi where the common normal to zi and zi 1 intersects zi . If
zi intersects zi 1 locate Oi at this intersection. If zi and zi 1 are parallel, locate
Oi in any convenient position along zi .
Step 4: Establish xi along the common normal between zi 1 and zi through Oi i, or in
the direction normal to the zi 1 zi plane if zi 1 and zi intersect.
Step 5 : Establish yi to complete a right-hand frame.
Step 6 : Establish the end-effector frame on xn yn zn . Assuming the n-th

joint is revolute

set zn a along the direction zn 1 . Establish the origin on conveniently along zn ,

preferably at the center of the gripper or at the tip of any tool that the
manipulator may be carrying. Set yn s in the direction of the gripper closure
and set xn n as s a . If the tool is not a simple gripper set xn and yn
conveniently to form a right-hand frame.
Step 7 : Create a table of link parameters ai , di , i , i .
ai Distance along xi from oi to the intersection of the xi and zi 1 axes.
d i Distance along zi 1 from Oi 1 to the intersection of the xi and zi 1 axes. d i
is variable if joint i is prismatic.

i The angle between zi 1 and zi measured about xi (see Figure 2.1).

i The angle between xi 1 and xi measured about zi 1 (see Figure 2.1). i is
variable if joint i is revolute.
Step 8 : Form the homogeneous transformation matrices Ai by substituting the above
parameters into equation 2.1.
Step 9 : Form Tn0 A1.... An . This then gives the position and orientation of the tool frame
expressed in base coordinates.

The overall transformation is obtained by post multiplication of individual

transformations:
Ti i 1 Rot ( z , i )Trans (0, 0, d i )Trans (0, 0, ai ) Rot ( x, i )

ci
s
Ti i 1 i
0

si
ci
0

cos i

sin i
Ti i 1
0

2.2

0 0 1 0
0 0 0 1
1 0 0 0

0 1 0 0

0 0 1
0 0 0
1 di 0

0 1 0

sin i cos i sin i sin i

cos i cos i cos i sin i
sin i
cos i
0
0

0 0 ai 1
0

1 0 0 0 c i
0 1 0 0 s i

0 0 1 0
0
ai cos i

ai sin i
di

(2.1)

0
s i
c i
0

0
0
0

(2.2)

(2.3)

Inverse Kinematics
The inverse kinematics problem is concerned with the inverse problem of finding

the joint variables in terms of the end-effector position and orientation. This is the
problem of inverse kinematics, and it is, in general, more difficult than the forward
kinematics problem. It is begin by formulating the general inverse kinematics problem.
Following this, it will describe the principle of kinematic decoupling and how it can be
used to simplify the inverse kinematics of most modern manipulators. Using kinematic
decoupling, we can consider the position and orientation problems independently. We
describe a geometric approach for solving the positioning problem, while we exploit the
Euler angle parameterization to solve the orientation problem.

9
In the general problem of inverse kinematics is quite difficult, it turns out that for
manipulators having six joints, with the last three joints intersecting at a point. It is
possible to decouple the inverse kinematics problem into two simpler problems, known
respectively, as inverse position kinematics, and inverse orientation kinematics. To put it
another way, for a 6 DOF manipulator with a spherical wrist, the inverse kinematics
problem may be separated into two simpler problems, namely first finding the position
of the intersection of the wrist axes, hereafter called the wrist center, and then finding
the orientation of the wrist.

Figure 2.2: Kinematic Decoupling

10
For this class of manipulators the determination of the inverse kinematics can be
summarized by the following algorithm.
Step 1: Find q1, q2, q3 such that the wrist center oc has coordinates given by

0
o o d 6 R 0
1
0
c

Step 2: Using the joint variables determined in Step 1, evaluate R30 .

Step 3: Find a set of Euler angles corresponding to the rotation matrix
R63 R30 R R30 R
1

2.3

Kinematics Analysis Program (KAP)

Kinematics Analysis Program is a program written by Rachid Manseur [1]. KAP

is currently written to compute the forward and inverse kinematics of robot manipulators
with 5 or 6 revolute degrees of freedom. The functional block diagram of KAP is shown
on Figure 2.3. There are two types of KAP:
i.

KAP5 to compute the inverse kinematics problem for 5 DOF of Rhino XR-3
robot.

ii.

KAP6 to compute the forward kinematics of Fanuc LR Mate 200iB robot.

11
Kinematics Analysis Program (KAP)
Robot Description and Pose Definition
Forward Kinematics

Forward Kinematics

Pose matrix
5-axis robots

Solution sets

General iterative 1-D

Closed form
Special
6-axis robots

Solution sets

General iterative 2-D

Closed form
Special

Figure 2.3: Functional Block Diagram of KAP

In this program, the user is asked to enter the Denavit-Hartenberg (DH)

parameter table for the robot. The DH-parameters can be entered from the keyboard or
by specifying a pre-existing file name containing the robot DH parameters in the format
shown on Table 2.1. The end effectors pose can also be entered through the keyboard,
read from a pre-existing file named POSE.DAT, or computed from joint angles that the
user enters through the forward kinematics block. The program determines the number
of DOF of the robot and applies the proper algorithm [1]. Even this program is to
compute the inverse kinematics of Fanuc LR Mate 200iB robot, it still can be use as a
sample for design a GUI for this project.