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

被引：0
|
作者：
Wang, Jiwu [1 ]
Han, Shuo [1 ]
机构：
[1] Beijing Jiaotong Univ, Sch Mech & Elect Engn, Beijing, Peoples R China
来源：
PROCEEDINGS OF THE 2021 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS (ICAROB 2021) | 2021年
关键词：
6-DOF robot; forward kinematics; inverse kinematics; simulation;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：385 / 388
页数：4
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