Addis Ababa Science and Technology University

Department of Electromechanical Engineering

Designing, Modeling, and Simulation of Yaskawa

Motoman GP7 Robot

Introduction to Robotics (EMEg5107) Project

Submitted by:

1. Nahom Daniel ETS1145/14

1. Nathan Tagel ETS1208/14
2. Natnael Gidey ETS1228/14
3. Natnael Ayalew ETS1251/14
4. Natnael Syium ETS1274/14

Submitted to:
Inst. Mulat T.

October 29, 2025

Abstract

This Project deals with the modeling, design and simulation of yaskawa motoman gp7
robot. It first deals with the kinematics of the robot. It includes the forward and reverse
kinematics of the robot.

i
Contents

Abstract i

List of Figures iii

List of Tables iv

1 Introduction 1

2 Kinematic Modelling 2
2.1 Coordinate Frame Assignment and DH Parameters . . . . . . . . . . . . 2
2.2 Forward Kinematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.2.1 Using Standard DH Parameters . . . . . . . . . . . . . . . . . . . 4
2.2.2 Using Modified DH Parameters . . . . . . . . . . . . . . . . . . . 5
2.3 Inverse Kinematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.3.1 Given Equations . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.3.2 Solution for θ1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.3.3 Solving for θ2 and θ3 . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.3.4 Solving for θ3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.3.5 Solving for θ4 , θ5 , θ6 . . . . . . . . . . . . . . . . . . . . . . . . . 9

ii
List of Figures

2.1.1 Coordinate frame assignments for the Yaskawa Motoman GP7 robot using
standard and modified DH conventions. . . . . . . . . . . . . . . . . . . . 3

iii
List of Tables

2.1.1 Standard DH Parameters for Yaskawa Motoman GP7 . . . . . . . . . . . 3

2.1.2 Modified DH Parameters for Yaskawa Motoman GP7 . . . . . . . . . . . 3

iv
Chapter 1

Introduction

Industrial automation has become an integral part of modern manufacturing, where pre-
cision, speed, and reliability are key to maintaining global competitiveness. Among the
various tools that drive this automation, industrial robots play a crucial role in performing
repetitive, complex, and hazardous tasks with high efficiency. One such advanced indus-
trial robot is the Yaskawa Motoman GP7, a compact yet powerful 6-axis manipulator
widely used for handling, assembly, and material removal applications.
This project, titled “Designing, Modelling, and Simulation of Yaskawa Motoman GP7
Robot,” focuses on developing a comprehensive digital model of the robot and analyzing
its kinematic and dynamic behavior through simulation. The primary objective is to
create an accurate 3D model of the GP7 manipulator, study its degrees of freedom, and
simulate its motion to validate its workspace and performance capabilities. Through this
process, the project aims to understand the principles of robot design and the significance
of virtual prototyping in modern robotics.
The project involves multiple stages: designing the robot structure using CAD soft-
ware, defining its kinematic parameters, and simulating its movements using appropri-
ate simulation tools such as MATLAB, ROS, or RoboDK. The simulation results help
visualize the robot’s motion, verify joint constraints, and evaluate its efficiency for dif-
ferent industrial tasks. By completing this project, the foundational knowledge required
for developing and optimizing robotic systems in real-world industrial environments is
strengthened.
Ultimately, this study not only demonstrates the theoretical and practical aspects of
robotic system development but also highlights how digital design and simulation tools
can significantly reduce time, cost, and risks associated with physical prototyping in the
robotics industry.

1
Chapter 2

Kinematic Modelling

Forward kinematics is the process of determining the position and orientation of the
robot’s end-effector based on the known values of its joint variables. In a serial manipu-
lator such as the Yaskawa Motoman GP7, the end-effector pose is obtained by multiplying
a sequence of homogeneous transformation matrices that describe the spatial relationship
between successive links.
To systematically model these transformations, the Denavit–Hartenberg (DH) con-
vention is used. This method assigns a coordinate frame to each link of the manipulator
based on four parameters:

• θi : Joint angle — rotation about the zi−1 axis.

• di : Link offset — translation along the zi−1 axis.

• ai : Link length — translation along the xi axis.

• αi : Link twist — rotation about the xi axis.

2.1 Coordinate Frame Assignment and DH Parameters

The coordinate frames for each joint of the Yaskawa Motoman GP7 are assigned following
the standard DH convention:

1. The zi axis is aligned with the axis of rotation for joint i + 1.

2. The xi axis is perpendicular to both zi−1 and zi , pointing from zi−1 toward zi .

3. The origin of each frame is placed at the intersection of xi and zi axes.

4. The yi axis is chosen to form a right-handed coordinate system.

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AASTU Dept. of EMEg Robitics Project

(a) Coordinate frame assignment for the stan- (b) Coordinate frame assignment for the mod-
dard DH convention. ified DH convention.

Figure 2.1.1: Coordinate frame assignments for the Yaskawa Motoman GP7 robot using
standard and modified DH conventions.

Once the frames are assigned, the DH parameters can be determined by measuring
the distances and angles between consecutive axes. The resulting parameters for the GP7
robot are listed in Table 2.1.1.

Table 2.1.1: Standard DH Parameters for Yaskawa Motoman GP7

Link (i) θi di (mm) ai (mm) αi (deg)

1 θ1 330 40 90
2 θ2 0 385 0
3 θ3 0 0 90
4 θ4 340 0 90
5 θ5 0 0 -90
6 θ6 d6 0 0

Table 2.1.2: Modified DH Parameters for Yaskawa Motoman GP7

Link (i) θi di (mm) ai (mm) αi (deg)

1 θ1 330 0 0
2 θ2 0 40 90
3 θ3 0 385 0
4 θ4 340 0 90
5 θ5 0 0 90
6 θ6 d6 0 -90

Coordinate Frame Assignment and DH Parameters 3

AASTU Dept. of EMEg Robitics Project

2.2 Forward Kinematics

Homogeneous Transformation Matrix
Using the Denavit–Hartenberg (DH) parameters defined for the Yaskawa Motoman GP7,
the individual homogeneous transformation matrices are derived as follows.

2.2.1 Using Standard DH Parameters

Individual Transformation Matrices
Transformation from Frame 0 to Frame 1:
 
cos θ1 0 sin θ1 40 cos θ1
0
 sin θ1 0 − cos θ1 40 sin θ1 
T1 = 
 0

1 0 330 
0 0 0 1

Transformation from Frame 1 to Frame 2:

 
cos θ2 − sin θ2 0 385 cos θ2
1
 sin θ2 cos θ2 0 385 sin θ2 
T2 = 
 0

0 1 0 
0 0 0 1

Transformation from Frame 2 to Frame 3:

 
cos θ3 0 sin θ3 0
2
 sin θ3 0 − cos θ3 0
T3 = 
 0

1 0 0
0 0 0 1

Transformation from Frame 3 to Frame 4:

 
cos θ4 0 sin θ4 0
3
 sin θ4 0 − cos θ4 0 
T4 = 
 0

1 0 340
0 0 0 1

Transformation from Frame 4 to Frame 5:

 
cos θ5 0 − sin θ5 0
4
 sin θ5 0 cos θ5 0
T5 =  
 0 −1 0 0
0 0 0 1

Transformation from Frame 5 to Frame 6:

 
cos θ6 − sin θ6 0 0
5
 sin θ6 cos θ6 0 0
T6 = 
 0

0 1 d6 
0 0 0 1

Forward Kinematics 4
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Overall Forward Kinematic Transformation

By multiplying all six matrices, the overall forward transformation matrix is obtained as:
0
T6 = 0 T1 1 T2 2 T3 3 T4 4 T5 5 T6
Substituting the matrices and simplifying gives the complete forward kinematic trans-
formation:  
r11 r12 r13 r14
0
r21 r22 r23 r24 
T6 = 
r31 r32 r33 r34 


r41 r42 r43 r44

r11 = sin(t6 )(cos(t4 ) sin(t1 ) − cos(t2 + t3 ) cos(t1 ) sin(t4 ))

+ cos(t6 )(cos(t5 )(sin(t1 ) sin(t4 ) + cos(t2 + t3 ) cos(t1 ) cos(t4 )) + sin(t2 + t3 ) cos(t1 ) sin(t5 ))
r12 = cos(t6 )(cos(t4 ) sin(t1 ) − cos(t2 + t3 ) cos(t1 ) sin(t4 ))
− sin(t6 )(cos(t5 )(sin(t1 ) sin(t4 ) + cos(t2 + t3 ) cos(t1 ) cos(t4 )) + sin(t2 + t3 ) cos(t1 ) sin(t5 ))
r13 = sin(t2 + t3 ) cos(t1 ) cos(t5 ) − sin(t5 )(sin(t1 ) sin(t4 ) + cos(t2 + t3 ) cos(t1 ) cos(t4 ))
r14 = 5 cos(t1 )(68 sin(t2 + t3 ) + 77 cos(t2 ) + 8)
− d6 (sin(t5 )(sin(t1 ) sin(t4 ) + cos(t2 + t3 ) cos(t1 ) cos(t4 )) − sin(t2 + t3 ) cos(t1 ) cos(t5 ))
r21 = − sin(t6 )(cos(t1 ) cos(t4 ) + cos(t2 + t3 ) sin(t1 ) sin(t4 ))
− cos(t6 )(cos(t5 )(cos(t1 ) sin(t4 ) − cos(t2 + t3 ) cos(t4 ) sin(t1 )) − sin(t2 + t3 ) sin(t1 ) sin(t5 ))
r22 = sin(t6 )(cos(t5 )(cos(t1 ) sin(t4 ) − cos(t2 + t3 ) cos(t4 ) sin(t1 )) − sin(t2 + t3 ) sin(t1 ) sin(t5 ))
− cos(t6 )(cos(t1 ) cos(t4 ) + cos(t2 + t3 ) sin(t1 ) sin(t4 ))
r23 = sin(t5 )(cos(t1 ) sin(t4 ) − cos(t2 + t3 ) cos(t4 ) sin(t1 )) + sin(t2 + t3 ) cos(t5 ) sin(t1 )
r24 = 5 sin(t1 )(68 sin(t2 + t3 ) + 77 cos(t2 ) + 8)
+ d6 (sin(t5 )(cos(t1 ) sin(t4 ) − cos(t2 + t3 ) cos(t4 ) sin(t1 )) + sin(t2 + t3 ) cos(t5 ) sin(t1 ))
r31 = − cos(t6 )(cos(t2 + t3 ) sin(t5 ) − sin(t2 + t3 ) cos(t4 ) cos(t5 )) − sin(t2 + t3 ) sin(t4 ) sin(t6 )
r32 = sin(t6 )(cos(t2 + t3 ) sin(t5 ) − sin(t2 + t3 ) cos(t4 ) cos(t5 )) − sin(t2 + t3 ) cos(t6 ) sin(t4 )
r33 = − cos(t2 + t3 ) cos(t5 ) − sin(t2 + t3 ) cos(t4 ) sin(t5 )
r34 = 385 sin(t2 ) − 340 cos(t2 + t3 ) − d6 (cos(t2 + t3 ) cos(t5 ) + sin(t2 + t3 ) cos(t4 ) sin(t5 )) + 330
r41 = 0, r42 = 0, r43 = 0, r44 = 1
This matrix 0 T6 describes both the orientation and position of the GP7 robot’s end-
effector with respect to the base frame for any given set of joint angles.

2.2.2 Using Modified DH Parameters

Individual Transformation Matrices
Transformation from Frame 0 to Frame 1:
 
cos θ1 − sin θ1 0 0
0
 sin θ1 cos θ1 0 0 
T1 = 
 0

0 1 330
0 0 0 1

Forward Kinematics 5
AASTU Dept. of EMEg Robitics Project

Transformation from Frame 1 to Frame 2:

 
cos θ2 − sin θ2 0 40
1
 0 0 −1 0 
T2 = 
 sin θ2 cos θ2

0 0
0 0 0 1

Transformation from Frame 2 to Frame 3:

 
cos θ3 − sin θ3 0 385
2
 sin θ3 cos θ3 0 0 
T3 = 
 0

0 1 0 
0 0 0 1

Transformation from Frame 3 to Frame 4:

 
cos θ4 − sin θ4 0 0
3
 0 0 −1 −340
T4 = 
 sin θ4 cos θ4

0 0 
0 0 0 1

Transformation from Frame 4 to Frame 5:

 
cos θ5 − sin θ5 0 0
4
 0 0 −1 0
T5 = 
 sin θ5 cos θ5

0 0
0 0 0 1

Transformation from Frame 5 to Frame 6:

 
cos θ6 − sin θ6 0 0
5
 0 0 1 d6 
T6 = 
− sin θ6 − cos θ6

0 0
0 0 0 1

Overall Forward Kinematic Transformation

By multiplying all six matrices, the overall forward transformation matrix is obtained as:
0
T6 = 0 T1 1 T2 2 T3 3 T4 4 T5 5 T6

Substituting the matrices and simplifying gives:

 
r11 r12 r13 r14
0
r21 r22 r23 r24 
T6 =  
r31 r32 r33 r34 
0 0 0 1

Forward Kinematics 6
AASTU Dept. of EMEg Robitics Project

r11 = sin(t6 )(cos(t4 ) sin(t1 ) − cos(t2 + t3 ) cos(t1 ) sin(t4 ))

+ cos(t6 )(cos(t5 )(sin(t1 ) sin(t4 ) + cos(t2 + t3 ) cos(t1 ) cos(t4 )) + sin(t2 + t3 ) cos(t1 ) sin(t5 ))
r12 = cos(t6 )(cos(t4 ) sin(t1 ) − cos(t2 + t3 ) cos(t1 ) sin(t4 ))
− sin(t6 )(cos(t5 )(sin(t1 ) sin(t4 ) + cos(t2 + t3 ) cos(t1 ) cos(t4 )) + sin(t2 + t3 ) cos(t1 ) sin(t5 ))
r13 = sin(t2 + t3 ) cos(t1 ) cos(t5 ) − sin(t5 )(sin(t1 ) sin(t4 ) + cos(t2 + t3 ) cos(t1 ) cos(t4 ))
r14 = 5 cos(t1 )(68 sin(t2 + t3 ) + 77 cos(t2 ) + 8)
− d6 (sin(t5 )(sin(t1 ) sin(t4 ) + cos(t2 + t3 ) cos(t1 ) cos(t4 )) − sin(t2 + t3 ) cos(t1 ) cos(t5 ))
r21 = − sin(t6 )(cos(t1 ) cos(t4 ) + cos(t2 + t3 ) sin(t1 ) sin(t4 ))
− cos(t6 )(cos(t5 )(cos(t1 ) sin(t4 ) − cos(t2 + t3 ) cos(t4 ) sin(t1 )) − sin(t2 + t3 ) sin(t1 ) sin(t5 ))
r22 = sin(t6 )(cos(t5 )(cos(t1 ) sin(t4 ) − cos(t2 + t3 ) cos(t4 ) sin(t1 )) − sin(t2 + t3 ) sin(t1 ) sin(t5 ))
− cos(t6 )(cos(t1 ) cos(t4 ) + cos(t2 + t3 ) sin(t1 ) sin(t4 ))
r23 = sin(t5 )(cos(t1 ) sin(t4 ) − cos(t2 + t3 ) cos(t4 ) sin(t1 )) + sin(t2 + t3 ) cos(t5 ) sin(t1 )
r24 = 5 sin(t1 )(68 sin(t2 + t3 ) + 77 cos(t2 ) + 8)
+ d6 (sin(t5 )(cos(t1 ) sin(t4 ) − cos(t2 + t3 ) cos(t4 ) sin(t1 )) + sin(t2 + t3 ) cos(t5 ) sin(t1 ))
r31 = − cos(t6 )(cos(t2 + t3 ) sin(t5 ) − sin(t2 + t3 ) cos(t4 ) cos(t5 )) − sin(t2 + t3 ) sin(t4 ) sin(t6 )
r32 = sin(t6 )(cos(t2 + t3 ) sin(t5 ) − sin(t2 + t3 ) cos(t4 ) cos(t5 )) − sin(t2 + t3 ) cos(t6 ) sin(t4 )
r33 = − cos(t2 + t3 ) cos(t5 ) − sin(t2 + t3 ) cos(t4 ) sin(t5 )
r34 = 385 sin(t2 ) − 340 cos(t2 + t3 ) − d6 (cos(t2 + t3 ) cos(t5 ) + sin(t2 + t3 ) cos(t4 ) sin(t5 )) + 330

This matrix 0 T6 describes both the orientation and position of the GP7 robot’s end-
effector with respect to the base frame for any given set of joint angles.

Forward Kinematics 7
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2.3 Inverse Kinematics

2.3.1 Given Equations
The end-effector position is given by:
   
dx 5C1 (68S23 + 77C2 + 8)
dy  =  5S1 (68S23 + 77C2 + 8)  (2.1)
dz 385S2 − 340C23 + 330

2.3.2 Solution for θ1

From dx and dy , it can be seen that:
dy
tan θ1 =
dx

θ1 = atan2(dy, dx) (2.2)

2.3.3 Solving for θ2 and θ3

Multiplying the first equation by cos θ1 and the second by sin θ1 and adding:

dxC1 = 5C1 (68S23 + 77C2 + 8)

dyS1 = 5S1 (68S23 + 77C2 + 8)
dxC1 + dyS1 = (68S23 + 77C2 + 8)(5C12 + 5S12 )
dxC1 + dyS1 = 340S23 + 385C2 + 40

Rewriting:
340S23 = dxC1 + dyS1 − 385C2 − 40 (2.3)
From the dz equation:
340C23 = 385S2 − dz + 330 (2.4)
Squaring and adding both equations to eliminate θ3 :

(340S23 )2 + (340C23 )2 = (dxC1 + dyS1 − 385C2 − 40)2 + (385S2 − dz + 330)2

3402 = (dxC1 + dyS1 − 385C2 − 40)2 + (385S2 − dz + 330)2

Let:

U = dxC1 + dyS1 − 40
V = 330 − dz

Then the equation becomes:

(U − 385C2 )2 + (385S2 + V )2 = 3402

U 2 − 770U C2 + 3852 C22 + 3852 S22 + 770V S2 + V 2 = 3402

U 2 + V 2 + 3852 − 770U C2 + 770V S2 = 3402

Inverse Kinematics 8
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Rearranging:
770U C2 − 770V S2 = U 2 + V 2 + 3852 − 3402 (2.5)
Let:

a = 770U = 770(dxC1 + dyS1 − 40) (2.6)

b = 770V = 770(330 − dz) (2.7)
c = U 2 + V 2 + 3852 − 3402 (2.8)

Then:
a cos θ2 − b sin θ2 = c
Solving for θ2 :  √ 
θ2 = 2 · atan2 −b ± b2 + a2 − c2 , c + a (2.9)

2.3.4 Solving for θ3

From Equation 2.4,
340C23 = 385S2 − dz + 330
Therefore:
385 sin θ2 − dz + 330
C23 =
340
 
−1 385 sin θ2 − dz + 330
θ2 + θ3 = cos
340
 
−1 385 sin θ2 − dz + 330
θ3 = cos − θ2 (2.10)
340

2.3.5 Solving for θ4 , θ5 , θ6

Using the rotational matrix approach with standard DH parameters:
 
C4 C5 C6 − S4 S6 −C6 S4 − C4 C5 S6 −C4 S5
3
R6 = C4 S6 + C5 C6 S4 C4 C6 − C5 S4 S6 −S4 S5  (2.11)
C6 S5 −S5 S6 C5
 
C23 C1 S1 S23 C1
0
R3 = C23 S1 −C1 S23 S1 
 (2.12)
S23 0 −C23
 
C23 C1 C23 S1 S23
0 T
R3 =  S1 −C1 0  (2.13)
S23 C1 S23 S1 −C23
Where:

C4 = cos θ4 , S4 = sin θ4
C5 = cos θ5 , S5 = sin θ5
C6 = cos θ6 , S6 = sin θ6

Inverse Kinematics 9
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Let 0 R6 be the given end-effector rotation matrix:

 
r11 r12 r13
0
R6 = r21 r22 r23  (2.14)
r31 r32 r33

Then:  
a11 a12 a13
3
R6 =0 R3T ·0 R6 = a21 a22 a23  (2.15)
a31 a32 a33
where:

a11 = r31 sin(t2 + t3 ) + r11 cos(t2 + t3 ) cos(t1 ) + a21 cos(t2 + t3 ) sin(t1 ),

a12 = r32 sin(t2 + t3 ) + r12 cos(t2 + t3 ) cos(t1 ) + a22 cos(t2 + t3 ) sin(t1 ),
a13 = r33 sin(t2 + t3 ) + r13 cos(t2 + t3 ) cos(t1 ) + a23 cos(t2 + t3 ) sin(t1 ),
a21 = r11 sin(t1 ) − r21 cos(t1 ),
a22 = r12 sin(t1 ) − r22 cos(t1 ),
a23 = r13 sin(t1 ) − r23 cos(t1 ),
a31 = r11 sin(t2 + t3 ) cos(t1 ) − r31 cos(t2 + t3 ) + a21 sin(t2 + t3 ) sin(t1 ),
a32 = r12 sin(t2 + t3 ) cos(t1 ) − r32 cos(t2 + t3 ) + a22 sin(t2 + t3 ) sin(t1 ),
a33 = r13 sin(t2 + t3 ) cos(t1 ) − r33 cos(t2 + t3 ) + a23 sin(t2 + t3 ) sin(t1 ).

From the structure of 3 R6 :

θ5 = cos−1 (a33 ) (2.16)

θ4 = atan2(a23 , a13 ) (2.17)
θ6 = atan2(−a32 , a31 ) (2.18)

This provides the complete inverse kinematics solution from the given forward trans-
formation matrix.

Inverse Kinematics 10