Kinematics analysis and simulation verification of new six DOF robot arm
The kinematics equation and the joint coordinate system were established by using Denavit-Hartenberg method in the consideration of the configurational characteristics of the new six DOF robot arm.The traditional algebraic method of inverse kinematics solution was improved in mathematical terms and the multiple solutions were optimized based on the principle of power consumption minimization path to get the suitable one.By using MTALAB/SIMULINK,the inverse kinematics solution was proved right and the error of the results was analyzed.The result shows that the method achieves zero error for the inverse kinematics of the mechanical construction.It can provide new ideas for the inverse kinematics solution of similar mechanical configurations.
six DOF robot armpower consumption minimizationkinematics analysissimulationoptimization
NETL
NSTL
万方数据
维普
