Kinematics Simulation of Industrial Robot Based on MATLAB

被引：1
|
作者：
Cai, Hanming [1 ]
Xing, Tingting [1 ]
机构：
[1] Qingdao Univ Sci & Technol, Qingdao, Shandong, Peoples R China
来源：
ADVANCED MATERIALS, PTS 1-3 | 2012年 / 415-417卷
关键词：
Industrial robot; Inverse kinematics solver; Kinematics simulation; MATLAB; Workspace Analysis;
D O I：
10.4028/www.scientific.net/AMR.415-417.690
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
In this paper, we discussed the kinematics simulation of a six DOF (degree of freedom) industrial robot, modeling the robot with PRO/E. D-H coordinate transformation method is used to establish coordinates of robot kinematics mathematical model and the target matrix. The powerful symbolic computation of MATLAB functions is used to analyze the equation, and the inverse kinematics solution is obtained. The joint trajectory of the robot in the implementation of task and workspace are worked out through the forward kinematics solution.
引用
收藏
页码：690 / 696
页数：7
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