Within the task, it is necessary to explore methods for describing the kinematics of robotic manipulators. It is necessary to describe the theory of transformations between coordinate systems and different possibilities for describing rotations. Special emphasis should be on the Denavit-Hartenberg formulation, which is the most widespread in the robotics industry. A numerical implementation of the kinematic model of a 6-axis manipulator is anticipated. Using the model, it is necessary to calculate the loads on the joints due to the robot's own weight and the load at the top of the robot.

Contact: Gregor Čepon