Kinematic Analysis of Tunnel Camera Cleaning Robot Based on Modified D-H
In order to realize the intelligent mechanized and efficient cleaning of cameras,a 5 Degree Of Freedom(5DOF)camera cleaning robot was designed.The ambiguity problem was solved by adding tran-sition joints between J2 and J3 joints,and the kinematic model parameters of the robot were obtained by the modified D-H(Denavit-Hartenberg)method,and then the forward and inverse kinematics of the ro-bot were solved by the flush transformation method and the closed solution method.The robot arm frame model was established in the Robotics Toolbox to conduct simulation experiments.The robot workspace was analyzed by Monte Carlo method,and the motion trajectory was constructed by the quintuple polyno-mial interpolation method.The results show that the working space of the cleaning robot meets the re-quirements of the tunnel camera cleaning operation,and the planned joint motion trajectory meets the kine-matic constraints and ensures the smoothness of the robot motion,which lays the foundation for the mo-tion control of the tunnel camera cleaning robot.
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