Kinematics Analysis and Simulation of Six Axis Robot Based on D-H Parameters
Taking the six axis cooperative robot as the research goal,Kinematics analysis was carried out,and the Kinematics research and simulation of the robot were realized through the D-H parameter method.At the same time,the connecting rod coordinate system is established by using the size diagram and structure diagram of the robot and the relevant parameter table is formed.The pose calculation of the robot's end effector and the correctness verification of the model were achieved using forward and inverse motion theory and MATLAB model methods at the same joint angle.Through the Monte Carlo algorithm,the robot's space point cloud can be calculated.Then,through the MATLAB tool kit,the position of the robot's end node and the model fitting curve of speed and acceleration can be calculated.
NETL
NSTL
万方数据
维普
