Forward and Inverse Kinematics analysis of the ABB IRB 6700 Industrial Robot

This paper presents a comprehensive kinematic analysis of the ABB IRB 6700 industrial robot using both forward and inverse approaches. Understanding the robot's kinematics is essential for developing accurate control algorithms and ensuring precise motion. A numerical model for forward kinematics is derived using the Denavit–Hartenberg (D-H) convention and validated with RoboAnalyzer simulation software. Inverse kinematics is addressed through both analytical and geometric methods to compute joint angles required for a desired end-effector position. The methodology developed is applicable to other serial robot manipulators as well. The study demonstrates the use of RoboAnalyzer and MATLAB for validating kinematic equations, facilitating offline programming and visualization.