Kinematics analysis and Simulation of a cooperative manipulator

被引：0
|
作者：
Wang, Jidai [1 ]
Wang, Wenhao [1 ]
Sun, Aiqin [1 ]
Liu, Ajian [1 ]
机构：
[1] Shandong Univ Sci & Technol, Qingdao 266590, Shandong, Peoples R China
来源：
INTERNATIONAL CONFERENCE ON INTELLIGENT EQUIPMENT AND SPECIAL ROBOTS (ICIESR 2021) | 2021年 / 12127卷
关键词：
Kinematics; Workspace; Monte Carlo; Simulation; Trajectory Planning;
D O I：
10.1117/12.2625426
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
A cooperative manipulator was designed. The kinematics model was established by using the Modified-DH method, and the kinematics equation was completed. The Monte Carlo method was used to solve the robotic arm workspace, and the point cloud diagram of the robotic arm end effectors workspace was drawn. The trajectory planning simulation study of the robotic arm was carried out through Matlab, and the displacement, velocity, and acceleration change curves of each joint during the movement were drawn. The rationality of the manipulator structure design was verified, and providing guidance for the subsequent research work of the manipulator.
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页数：8
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