Inverse Kinematic Analysis of IRB120 Robot Arm

Robot algorithms require faster and more efficient computing due to increasing integration of robot arms to automation systems and expanding capabilities of robotic systems. Inverse kinematics calculations used in trajectory generation is one of these algorithms. The inverse kinematics problem can be defined as determination of joint angular positions for a desired position and orientation of the end-effector. The aim of this paper is to present a closed form solution to the inverse kinematics problem of IRB120 robot arm. To this end, forward kinematics is formulated using Denavit-Hartenberg representation and analytic solution for inverse kinematics is obtained with a geometric approach. The inverse kinematics solution is tested for different robot arm configurations in a simulation environment written in GNU Octave. The analytical solution successfully produced all possible robot configurations. Also, using a sampling rate of 0.001�, cartesian space trajectories are successfully mapped to the joint space. It is concluded that presented analytical solution can be used in real time control applications of IRB120 robot arm.