Design and Implementation of 6 DOF ROTARIC Robot Using Inverse Kinematics Method

  • Fransisko Limanuel Unika Atma Jaya
  • Calvin Susanto
  • Ferry Rippun Gideon Manalu Unika Atma Jaya
Keywords: 6-DOF manipulator, Articulated robot, inverse kinematics and forward kinematics, Dynamixel MX-28, OpenCM 9


This paper will discuss the calculation of inverse kinematic which will be used to control the 6-DOF articulated robot. This robot consists of 6 Dynamixel MX-28 smart servo with OpenCM 9.04 microcontroller. The articulated robot has been simplified to 4-DOF because there are no obstacles in the work area and no special movements are required. The calculation method uses the intersection point equation between the ball and the line, so that it can make it easier to determine the point in calculating the kinematic inverse. The experiment is carried out using the desired position as input for the kinematic inverse to produce the angle of each joint. From the angle of each joint obtained, it will be entered into forward kinematic so that the end-effector position will be obtained. The desired position will be compared with the end-effector position, and then how much difference will be calculated. From the experimental results, it was found that the inverse kinematic method which has been inverted by the forward kinematic produces the same final position.

Keywords: 6-DOF manipulator, Articulated robot, inverse kinematics and forward kinematics, Dynamixel MX-28, OpenCM 9


[1] Aparnathi, Rajendra. (2014). The Novel of Six axes Robotic Arm for Industrial Applications. IAES International Journal of Robotics and Automation (IJRA). 3. 10.11591/ijra.v3i3.4892.
[2] Donald L. Pieper, The kinematics of manipulators under computer control. PhD thesis, Stanford University, Department of Mechanical Engineering, October 24, 1968.
[3] K. Bouzgou and Z. Ahmed-Foitih, “Geometric modeling and singularity of 6 DOF Fanuc 200IC robot,” 4th Int. Conf. Innov. Comput. Technol. INTECH 2014 3rd Int. Conf. Futur. Gener. Commun. Technol. FGCT 2014, pp. 208–214, 2014.
[4] OpenCM9,04(,accessed 26-11-2020
[5] P. Marothiya and S. Saha, “Robot inverse kinematics and dynamics algorithms for windows,” Recent Trends Manuf., pp. 229–237, 2003.
[6] Paul, Richard (1981). Robot manipulators: mathematics, programming, and control : the computer control of robot manipulators. MIT Press, Cambridge,Massachusetts. ISBN 978-0-262-16082-7
[7] Pitowarno. Endra. 2006. “ROBOTIKA : Desain, Kontrol, dan Kecerdasan Buatan“. Yogyakarta : Andi Offset.
[8] Robot Institute of America: NBS/RIA Robotics Research Workshop : proceedings of the NBS/RIA Workshop on Robotic Research, held at the National Bureau of Standards in Gaithersburg, MD, on November 13-15, 1979 / (Washington, D.C. : U.S. Dept. of Commerce, National Bureau of Standards : For sale by the Supt. of Docs., U.S. G.P.O., 1981),
[9] Sawicz, D. 2012. Hobby Servo Fundamentals.
[10] Smart servo (,accessed 26-11-2020
Abstract viewed = 17 times
PDF downloaded = 16 times