Code covered by the BSD License

# Modelling and Simulation of Kuka kr6 robot.

### Rohit Mishra (view profile)

A fully working Matlab Simulation of KUKA KR6 robot with Direct kinematic Parameters is done.

direct(q1,q2,q3,q4,q5,q6)
```function direct(q1,q2,q3,q4,q5,q6)

% % % GIVEN JOINT VARIABLES

d=[335   0   0   -295    0   -80];
a=[75    270 90  0   0   0];

% % TRANSFORMATION MATRIX 1.
q1=ger(handles.slider1,'Value');
T1=[    cos(q1)     0       -sin(q1) a(1)*cos(q1)
sin(q1)     0       -cos(q1) a(1)*sin(q1)
0           -1          0       d(1)
0           0           0        1      ];

% % TRANSFORMATION MATRIX 2.
q2=ger(handles.slider1,'Value');
T2=[    cos(q2)     -sin(q2)    0   a(2)*cos(q2)
sin(q2)     cos(q2)     0   a(2)*sin(q2)
0               0       1       0
0               0       0       1   ];

% % TRANSFORMATION MATRIX 3.
q3=ger(handles.slider1,'Value');
T3=[    cos(q3)         0    sin(q3)   a(3)*cos(q3)
sin(q3)         0    -cos(q3)   a(3)*sin(q3)
0               0       0       0
0               0       0       1   ];
% % TRANSFORMATION MATRIX 4.
q4=ger(handles.slider1,'Value');
T4=[    cos(q4)         0   -sin(q4)    0
sin(q4)         0    cos(q4)    0
0              -1       0      d(4)
0               0       0       1   ];

% % TRANSFORMATION MATRIX 5.
q5=ger(handles.slider1,'Value');
T5=[    cos(q5)     0       sin(q5)           0
sin(q5)     0       -cos(q5)          0
0           1          0               0
0           0          0               1       ];

% % TRANSFORMATION MATRIX 6.
q6=ger(handles.slider1,'Value');
T6=[    cos(q6)     -sin(q6)        0           0
sin(q6)     cos(q6)     0               0
0           0           1           0
0           0           0               1   ];

T=T1*T2*T3*T4*T5*T6;

```