Design and Simulation Analysis of Desktop Collaborative Robot Arm
Due to the low cost,miniaturization,and modularization of desktop-level collaborative robots,they are widely used in medical,food,scientific research,3C and other industries.Aiming at the modular joint,a desktop-level collaborative robot that meets the requirements of strength and rigidity and a rated load of 1kg is designed,and an experimental simulation platform based on CoppeliaSim and Matlab is established.Firstly,the forward and inverse kinematics models of the robot are established by the spin method,and the position control algorithm based on the minimum change angle is proposed,which successfully realizes the motion control of the robot,and verifies the accuracy of the forward and inverse kinematics solution model.The simulation results of the exper-imental platform show that the algorithm can effectively control the movement of the robot and is practical.
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