Modeling and Inverse Kinematics of Kuka Manipulator

In this paper the focus will be on the kinematics
and inverse kinematics modeling for seven degree’s of
freedom Kuka manipulator robotic arm. Robot kinematics
refers to the analytical study of the motion of a robot
manipulator. Formulating the suitable kinematics models for
a robot mechanism is very crucial for analyzing the
behavior of industrial manipulators. The formulation of the
problem is based on finding the D-H parameters of the arm.
The inverse kinematics problem of the system is redundant.
This problem has no general closed form solutions or
analytical solutions for the 7-DOF manipulator. The DH
convention method is used to form the kinematical equation
of the resultant structure.