Study on Simulation of a 6R Robot Motion Based on MATLAB

被引：0
|
作者：
Zhang, Rui-Xing [1 ]
Wei, Jian-Jun [1 ]
机构：
[1] Guangxi Univ Sci & Technol, Sch Mech Engn, Guangxi 545006, Liuzhou, Peoples R China
来源：
2016 INTERNATIONAL CONFERENCE ON MECHANICAL ENGINEERING AND CONTROL AUTOMATION (ICMECA 2016) | 2016年
关键词：
Kinematics; D-H method; Trajectory planning; Simulation;
D O I：
暂无
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The coordinate parameters of a 6R robot are set with Denavit-Hartenberg method, and the parameters of its connecting rods are determined. Forward and inverse kinematics of this robot are discussed, and mathematical simulation and analysis are carried out with MATLAB's Robotics Toolbox. Related data of the robot motions are obtained through trajectory planning and simulation of motions and joint spaces, thus the rationality of lever parameter setting is verified.
引用
收藏
页码：156 / 159
页数：4
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