D-H Modeling and Simulation Analysis Based on Six Degree of Freedom Industrial Robot
The six degree of freedom(6-DOF)industrial robot currently developed in the laboratory was focused on.The robot kinematics model was established based on D-H model,in MATLAB environment,computer numerical corresponding calculation program was self-prepared,and simulation analysis for the model was carried out.Finally combined with specific examples of the robot,the calibration tests of robot of 6-DOF standard body posture were done.By comparing the test results,the positioning accuracy of the robot after calibration in laboratory and the actual accuracy are very close,and the positioning accuracy of standard posture of the robot has greatly improved.
Six degrees of freedomIndustrial robotD-H modelCalibration body classification
NETL
NSTL
万方数据
维普
