Kinematics analysis and simulation of 6R Robot Based on Matlab/Simulink

DOI
  • Wang Jiwu
    School of Mechanical and Electronic Engineering, Beijing jiaotong University
  • Han Shuo
    School of Mechanical and Electronic Engineering, Beijing jiaotong University

説明

The 6R robot can imitate the human arm to complete some target grabbing tasks, so the kinematics analysis of the robot is significant in scientific research and practical application. In this paper, a kinematics solution method of 6R robot based on analytic method is introduced, which is faster and more accurate in solution than the numerical method. Then the trajectory of the end effector is planned by using the quintic polynomial method,in this way, there are no sudden changes in the speed of the end effector of the robot, and the operation is more stable.Furthermore, the accuracy of the kinematics solution method is verified and the motion trajectory of the manipulator is simulated by Matlab. At last ,the visualization of the robot kinematics model was realized based on the Simulink, and the kinematics simulation control system was established.

収録刊行物

キーワード

詳細情報 詳細情報について

  • CRID
    1390288225751695488
  • DOI
    10.5954/icarob.2021.os17-2
  • ISSN
    21887829
  • 本文言語コード
    en
  • データソース種別
    • JaLC
    • Crossref
  • 抄録ライセンスフラグ
    使用不可

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