This paper takes the Huashu JR603 robot as the research object.Starting from analyzing the position and posture of the rigid body in space,configuring the robot coordinate system,and using the D-H parameter method based on homogeneous coordinate transformation,constructing a forward and inverse kinematics mathematical model,using the robot toolbox to establish a three-dimensional simulation model of the robot,and conducting forward and inverse kinematic simulation analysis.The simulation results show that the joint variables are the same as the assumed joint variables,which proves the correctness and rationality of the forward and inverse kinematics solution method.This provides a useful analytical tool and theoretical support for the later use and scientific research of robots.
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