Systematic Overview of Development of a Robot Kinematics Library for Motion Planning of Serial Robots Using Object Oriented Programming Concepts

The serial robots used in industries require offline and online programming for their efficient usage. Offline programming can be achieved using proprietary software or by developing an application from scratch. In this paper, a systematic overview of the development of an offline programming (OLP) simulation software is reported. The CAD files of a robot have to be modified to hold the information of Denavit-Hartenberg (DH) parameters, which are used in the mathematical modelling and kinematic analysis of the robot. Thereafter, a set of standard robot motions such as Point-to-Point (PTP), joint, linear, circular, etc. have to be implemented using inverse kinematics or Jacobian method. These sequences of motions can then be efficiently managed. Here, the concepts of object oriented programming were used to define the classes and their functionality in the form of RobKinLib which can be used as a DLL to call the functions from a client application (RobKinApp).