Programa del congreso

This work presents the geometric modeling, implementation, and experimental validation of basic upper-limb therapeutic trajectories using the KUKA KR6 R900 SIXX six-degree-of-freedom industrial robot. A complete kinematic model was developed based on the Denavit–Hartenberg formulation, including both forward and inverse kinematics equations for Cartesian trajectory generation, following classical principles of serial manipulator modeling [7], [8].

Three representative motions were implemented: elbow flexion, elbow extension, and forearm pronation–supination. Each trajectory was executed in 20 consecutive repetitions using the physical robot, and experimental validation was performed through direct measurement with a mechanical dial indicator gauge.

The results showed mean positioning errors of 0.08 mm for flexion, 0.09 mm for extension, and 0.11 mm for pronation–supination, with standard deviations of approximately 0.014 mm, confirming high repeatability and sub-millimetric spatial accuracy. These values are consistent with the expected geometric behavior of six-degree-of-freedom industrial manipulators [8], [9].

The findings validate the correct implementation of the kinematic model and demonstrate that the KR6 can execute basic therapeutic trajectories with high geometric precisión.