We have successfully modelled a commercial industrial robot,found the kinematics parameter and made programs to simulate motion and manipulate the joint on individual basis. KUKA KR6 is a commerical superlative fast excellent robot for carrying light and medium capacity load.
Here the user can easily change the input angles and can easily observe the change in position and orientation of the tool.
Such kind of modelling is very useful for pre-deployment analysis or robot efficiency in specific scenarios, as well as for research and educational purposes.
This is also cost effective and saves on both hardware cost as well as on maintainence and repair cost.