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Collaborative robots (cobots) represent a new class of robots designed to operate safely alongside humans in shared environments, playing a crucial role in today’s smart manufacturing systems. Recent advancements have equipped these cobots with innovative sensors and software, enhancing their agility and expanding their applicability across various businesses. The kinematics, both forward and inverse, establish the relationship between a robot’s mechanical movements and its control systems. Existing inverse kinematics solutions for 6-DoF robots often lack clarity and essential details. Moreover, the commonly employed numerical iterative approaches struggle to meet real-time and accuracy demands. This paper presents a comprehensive mathematical model for the TM5-700 cobot from OMRON®, a newly developed 6-DoF robot. The forward and inverse kinematics are derived using a hybrid analytical and geometrical approach. The cobot’s workspace is determined through the Monte Carlo technique, and the singularity positions are also identified. The proposed kinematic models are validated through extensive MATLAB® simulations, demonstrating their accuracy and reliability. This work highlights the TM5-700 cobot’s potential benefits for the business world, including improved production efficiency and flexibility, making it a valuable asset for modern smart factories.

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Advanced Kinematic Modeling and Simulation of the TM5-700 Cobot: An Analytical and Geometrical Approach

  • 章节

  • 发表日期：

    2026年

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  • Ahmed S. Ghorab,
  • Iyad Abuhadrous

摘要

Collaborative robots (cobots) represent a new class of robots designed to operate safely alongside humans in shared environments, playing a crucial role in today’s smart manufacturing systems. Recent advancements have equipped these cobots with innovative sensors and software, enhancing their agility and expanding their applicability across various businesses. The kinematics, both forward and inverse, establish the relationship between a robot’s mechanical movements and its control systems. Existing inverse kinematics solutions for 6-DoF robots often lack clarity and essential details. Moreover, the commonly employed numerical iterative approaches struggle to meet real-time and accuracy demands. This paper presents a comprehensive mathematical model for the TM5-700 cobot from OMRON®, a newly developed 6-DoF robot. The forward and inverse kinematics are derived using a hybrid analytical and geometrical approach. The cobot’s workspace is determined through the Monte Carlo technique, and the singularity positions are also identified. The proposed kinematic models are validated through extensive MATLAB® simulations, demonstrating their accuracy and reliability. This work highlights the TM5-700 cobot’s potential benefits for the business world, including improved production efficiency and flexibility, making it a valuable asset for modern smart factories.