EVERGREEN

Joint Journal of Novel Carbon Resource Sciences and Green Asia Strategy

ISSN:2189-0420 (Print until Mar 2020)
ISSN:2432-5953 (Online)

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

Shailendra Singh Chauhan1,*, Neha Gupta1, Achaman Mishra1
1R.R. Institute of Modern Technology, Sitapur Rd, Lucknow, Uttar Pradesh, Lucknow, 226028, India
*Author to whom correspondence should be addressed:
E-mail: shailendra.chauhan@rrgi.in (SSC)
Evergreen, Vol. 13, Iss. 01, pp. 256–266, 2026
DOI: 10.5109/7411067
Creative Commons Attribution 4.0 International Creative Commons Attribution 4.0 International
Received: April 19, 2025 | Revised: July 28, 2025 | Accepted: October 28, 2025 | Published: March 2026
Abstract
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.
Keywords
ABB IRB- 6700 industrial robot; D-H parameters; Forward Kinematics; Inverse Kinematics; RoboAnalyzer
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