International Journal of Advanced Engineering, Management and Science

(IJAEMS)
ISSN: 2454-1311
Vol-7, Issue-3; Mar, 2021
Journal Home Page Available: https://ijaems.com/
Journal DOI: https://dx.doi.org/10.22161/ijaems
Article DOI: https://dx.doi.org/10.22161/ijaems.73.10

Analysis Industrial Robot Arm with Matlab and

RoboAnalyzer
Arif Krisbudiman1, Tsani Hendro Nugroho2, Ahmad Musthofa3

1Center for Machine technology, production, and automation, Agency for Technology Assessment and application, Indonesia;
Faculty of Industrial Engineering, University of Pamulang, Indonesia
2 Intelligent Machine Laboratory, Center for Machine technology, production, and automation, Agency for Technology Assessment and

application, Indonesia
3 Automation Laboratory, Center for Machine technology, production, and automation, Agency for Technology Assessment and

application, Indonesia

Received: 14 Dec 2020; Received in revised form: 03 Feb 2021; Accepted: 19 Feb 2021; Available online: 22 Mar 2021
©2021 The Author(s). Published by Infogain Publication. This is an open access article under the CC BY license
(https://creativecommons.org/licenses/by/4.0/).

Abstract— The industrial robot arm to be analyzed is the Motoman K10S, with configuration has 7 parts,
namely Base, Rotary Head, Lower Arm, Upper Arm, Wrist Roll, Wrist Pitch Yaw, and Wrist Twist. The first joint
connects the Base section with the Rotary Head (joint range of 340º or ± 170º). The second joint connects the
Rotary Head section with the Lower Arm (joint range of 240º or ± 120º). The third joint connects the Lower Arm
section with the Upper Arm (joint range of 275º or ± 137.5º). The fourth joint connects the Upper Arm section
with the Wrist Roll (joint range of 360º or ± 180º). The fifth joint connects the Wrist Roll section with the Wrist
Pitch Yaw (joint range of 270º or ± 135º). The sixth joint connects the Wrist Pitch Yaw section with the Wrist
Twist (joint range of 400º or ± 200º). Based on the configuration of the industrial robot arm, further kinematic
modeling of the six joints and the placement of the coordinate axis on each joint. Forward and inverse kinematic
calculations are made in Matlab software. Then with RoboAnalyzer as a robot arm simulator to verify the results
of the calculations.
Keywords— industrial robot arm, forward kinematic, inverse kinematic, Matlab, RoboAnalyzer.

I. INTRODUCTION Arm, Upper Arm, Wrist Roll, Wrist Pitch Yaw, and Wrist
Definition of industrial robots is automatically controlled, Twist sections. Base as a holder that will be mounted on
reprogrammable, multipurpose manipulator, the location where the robot is placed. The Rotary Head is
programmable in three or more axes, which can be either a horizontal rotating part (S axis) above the Base, and
fixed in place or mobile for use in industrial automation above the Rotary Head there is a Lower Arm section
applications [1]. An industrial robot is a multipurpose connected to the joint - Waist (waist) that rotates vertically
manipulator that is automatically controlled [2]: Three or (L axis). Upper Arm is the part that is above the Lower
more axes; (Re)programmable: Translations and Rotations, Arm and is connected by a joint - Shoulder (shoulder) that
Movement pattern, and Possibly sensor guided; Can be rotates vertically (U axis).
equipped with different end-effectors for industrial
applications: Gripper, Tools, Sensors, etc. Basically, the
main components of an industrial arm robots are designed
to refer to existing standards as shown in Figure 1 below.
In the picture you can see the Base, Rotary Head, Lower

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Fig. 3: Robot Arm Construction [4]

II. KINEMATICS MODELING OF INDUSTRIAL

ARM ROBOT
To be able to determine the orientation and link position of
Fig. 1: Industrial Robot Arm Configuration [3]
the robot, kinematic modeling is needed. In robotics,
kinematic modeling is a form of statement containing a
After the Upper Arm there is the Wrist Roll and it is mathematical description of the geometry of a moving
connected to the joint - Wrist (wrist) which rotates about robot structure without considering the force causing it.
the axis of the Upper Arm (R axis). After the Wrist Roll Based on the forward kinematic analysis, the input
there is a part of the Wrist Pitch Yaw and it is connected to reference for each actuator can be determined in the form
the joint - Wrist (wrist) that rotates to the perpendicular to of an angle so that the robot can make movements to
the axis of the Upper Arm (axis B). Then at the very end achieve the desired orientation and position. Figure 4
after the Wrist Pitch Yaw there is a part of the Wrist Twist shows the placement of the coordinate axis (frame) on the
and it is connected with a joint - Wrist (wrist) that rotates joint simulator arm robot based on the right hand rule.
about the upper arm axis of the arm (T axis).
The industrial robot configuration that is designed has 6
joints and the names of each joint and their maximum-
minimum limits can be seen in Table 1 below:
Table 1 Joint Robot Arm Rotation Limitation and
Direction

No Joint i Structur Max. Min. Joint Range Axis

170° -170°
1 1 Turning 340° S
(kekiri) (kekanan)
120° -120°
2 2 Lower arm
(kebawah) (keatas)
240° L Fig. 4: Coordinate Frames for the Industrial Robot
137,5° -137,5° Arm
3 3 Upper arm 275° U
(kebawah) (keatas)
180° -180°
4 4 Wrist roll 360° R
(CCW) (CW)
III. MATHEMATICAL FORMULATION
135° -135°
5 5 Wrist pitch/ yaw 270° B
(kebawah) (keatas) The robot arm simulator consists of several links and
200° -200°
6 6 Wrist twist
(CCW) (CW)
400° T joints. Joints are used to connect any existing links where
each joint represents one degree of freedom. To describe
And in Figure 2 and Figure 3 below, you can see the the translational and rotational relationships between
placement of the coordinate axis (frame) at each joint of adjacent links, the Denavit Hartenberg (DH) parameter
the industrial robot arm that is designed, as follows: method is used as a matrix method that systematically
builds a coordinate system from each link. Table 2 shows
the DH parameters of the robot arm simulator. Based on
the DH parameter, then the matrix transformation of each
frame coordinate can be determined from link i to i + 1
using the following equation:

Fig. 2: Industrial Robot Arm Configuration [4]

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Arif Krisbudiman et al. International Journal of Advanced Engineering, Management and Science, 7(3)-2021

forward kinematics based on the initial value or the angle

of each joint. The steps from this stage are as follows:

(1)

Table 2 DH Parameters for the industrial Robot

Arm
i i-1 ai-1 di i
The modeling of the industrial robot arm that is carried out
1 0° 0 0 1
is to determine the position of the X-Y-Z axis for each
2 90° 0 0 2 joint, namely from joint 1 to joint 6. And for more details,
3 0° a1 0 3 see Figure 3 above.
4 0° a2 0 4 4.1. FORWARD KINEMATICS WITH MATLAB
5 0° a3 0 5
Based on the industrial robot arm modeling that has been
6 90° 0 0 6
done, the dimensions of each robot link can be determined
which can be written in Matlab program. Then enter the
To calculate the forward kinematic, we determine the initial value or the amount of rotation of each joint in
values a1 = 119 mm, a2 = 119 mm, a3 = 165 mm and a4 = radians written in Matlab program. Then it can display the
47.5 mm based on the link length of the robot arm robot in an X-Y-Z graph and calculate forward kinematics
designed, then determine the sampling angle value i, for written in Matlab program (Figure 5).
example θ1 = 60°, θ2 = 60°, θ3 = 60°, θ4 = 60°, θ5 = 90°,
and θ6 = 60°. Furthermore, using the MATLAB software,
a matrix transformation equation is obtained which states
the orientation matrix and position vector from the base to
the end effector as follows:

(2)
To verify the results of the forward kinematic calculation,
the RoboAnalyzer software will be used. By entering the
link dimensions and angles with the same value when
using MATLAB, the following results will be obtained: Fig. 5: Coordinate Frames for the Industrial Robot
Arm

(3) And the results in matlab can be seen in Figure 6:

IV. FORWARD KINEMATICS

The calculation of forward kinematics of the industrial
robot arm is carried out either with the help of MATLAB
software or with the RoboAnalyzer software for
verification. In the early stages, modeling of the robot was
carried out, then continued by compiling the DH
Parameters (Denavit-Hatenberg parameter) of the modeled
industrial robot arm. And the next step is to calculate

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Arif Krisbudiman et al. International Journal of Advanced Engineering, Management and Science, 7(3)-2021

Fig. 7: Simulation of Forward Kinematics in

RoboAnalyzer

Based on the results of the calculation of forward

kinematics using the RoboAnalyzer software above, it can
be seen that the end-effector position is:
X = 0.072044; Y = -0.119267; and Z = 0.079601.

V. INVERSE KINEMATICS
In the inverse kinematics calculation of the industrial robot
arm, it is carried out both with the help of MATLAB
software and the RoboAnalyzer software for verification.
In the early stages, modeling of the robot was carried out,
then continued by compiling the DH Parameters (Denavit-
Hatenberg parameter) of the modeled industrial robot arm.
And the next step is to calculate inverse kinematics based
on the initial value or the angle of each joint. The steps
from this stage are as follows:

Fig. 6: Result of Forward Kinematics in Matlab

Based on the results obtained above is a homogenous The modeling of the industrial robot arm that is carried out
transformation matrix, which contains rotation and is to determine the position of the X-Y-Z axis for each
translation as well as the position of the end-effector, as joint, namely from joint 1 to joint 6. And for more details,
follows: see Figure 3 above.
X = 0.0720; Y = -0.1193; dan Z = 0.0796. 5.1. INVERSE KINEMATICS WITH MATLAB
4.2. FORWARD KINEMATICS WITH Based on the industrial robot arm modeling that has been
ROBOANALYZER done, the dimensions of each robot link can be determined
And in addition to matlab, forward kinematics calculations which can be written in Matlab program. Then enter the
can be carried out with the help of RoboAnalyzer software position of the end effector, which is the translation on the
for verification and the results can be seen in Figure 7: X, Y, and Z axes in mm and the rotation on the X, Y, and
Z axes in degrees written in Matlab program. Then the
inverse kinematics calculation can be done and display the
robot in an X-Y-Z graph written in Matlab program
(Figure 8).

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Arif Krisbudiman et al. International Journal of Advanced Engineering, Management and Science, 7(3)-2021

Based on the results obtained above, the amount of

rotation of each joint is in degrees, as follows:
q1 = -7.6994; q2 = -7.6994; q3 = -43.8606;
q4 = 84.4467; q5 = 108.4675; and q6 = -165.0305

V.1. INVERSE KINEMATICS WITH ROBOANALYZER

And in addition to matlab, inverse kinematics calculations
can be done with the help of RoboAnalyzer software for
verification and the results can be seen in Figure 10:

Fig. 8: Matlab Program for Forward Kinematics

And the results in matlab can be seen in Figure 9:

Fig. 10: Simulation of Inverse Kinematics in

RoboAnalyzer

Based on the results of inverse kinematics calculations

with the RoboAnalyzer software above, it can be seen that
the rotation rate of each joint in radians is:
q1 = -7.6994; q2 = -7.6994; q3 = -43.8606;
q4 = 84.4467; q5 = 108.4675; and q6 = -165.0305

IV. RESULTS AND DISCUSSION

Based on the simulation results of forward and inverse
kinematics in Matlab and RoboAnalyzer for industrial
robot arm. The results of simulation forward kinematics in
RoboAnalyzer is almost the same as that generated from
the Matlab program, And the results of simulation inverse
kinematics in RoboAnalyzer is almost the same as that
generated from the matlab program.

V. CONCLUSION
Based on the paper results can be concluded as follows:
1. The forward kinematics calculations were
successfully carried out in Matlab program and
RoboAnalyzer software.
2. The inverse kinematics calculations were
successfully carried out in Matlab program and
Fig. 9: Result of Inverse Kinematics in Matlab RoboAnalyzer software.
3. The kinematic simulation that has been done can be

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Arif Krisbudiman et al. International Journal of Advanced Engineering, Management and Science, 7(3)-2021

used as the basis for controlling the designed

industrial arm robot.

ACKNOWLEDGEMENTS
For research on industrial arm robot theme in the world of
manufacturing, the authors suggest the following research:
1. Industrial robotic arm modeling and the basics of
kinematics can be developed into a program to
control robots in the welding process.
2. The use of more than one industrial arm robot
with the program algorithms to simulate a
manufacturing process.
3. Combining the Matlab program with the C
programming language in controlling industrial
robot arms.An acknowledgement section may be
presented after the conclusion, if desired.

REFERENCES
[1] ISO 8373:2012 definition of industrial robots
[2] Dr. -Ing. Dipl.-Wirt.Ing. Tim Detert, Introduction to
Industrial Robotics and Current Research for Industry 4.0,
Department of Mechanism Theory and Dynamic of
Machines and Robotics, RWTH Aachen University
[3] MOTOMAN K10S INSTRUCTION MANUAL,
MOTOMAN ROBOTICS, 1994
[4] Munadi, ANALISA FORWARD KINEMATIC PADA
SIMULATOR ARM ROBOT 5 DOF YANG
MENGINTEGRASIKAN MIKROKONTROLER
ARDUINO-UNO DAN LABVIEW, Laboratorium
Komputasi, Jurusan Teknik Mesin, Fakultas Teknik,
Universitas Diponegoro
[5] Firmansyah dkk., Perancangan Lengan Robot 5 Derajat
Kebebasan, Jurnal Rekayasa Elektrika Vol. 11, No. 2,
Oktober 2014, hal. 69-72

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