Trajectory tracking of a 6-DOF industrial manipulator

An algorithm that simulates the trajectories for a 6 -DOF articulate manipulator was proposed. A Fanuc-type 6-DOF industrial manipulator was first modeled in MATLAB, then using basic matrix computations, a simplified algorithm was developed which is capable of efficiently computing the trajectory of the known manipulator and a Guide User Interface (GUI) was developed to simulate the trajectory in MATLAB environment given the required inputs. The orientation and position parameters are required, and then the basic machine parameters like acceleration, velocity and time also were required. The algorithm was found to efficiently compute and simulate the trajectories for the manipulator given any two of the tree manipulator parameters and an approximate trajectory given any one of the three manipulator parameters.