Modeling and Simulation Experiment Analysis of Palletizing Manipulator Based on Matlab
In this paper,taking the 5-DOF palletizing manipulator as an example,through the standard D-H method,the co-ordinate system of each joint of the manipulator is constructed,and its kinematic equations are analyzed and deduced.The robot toolbox in Matlab is used to verify its kinematic equations,its workspace is solved,and 5th-degree polynomials is used to plan the trajectory of each joint.By debugging and simulating the structure of the manipulator,the rationality of the structure is verified,the parameters of the connecting rod are correct,the curves of each joint are smooth and continuous,and the sorting and palletizing can be carried out correctly,it can be applied to production practice.
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