Kinematic Simulation of a Six Axis Manipulator Based on Simscape
In order to solve the safety problems and cooperative operation problems of the manipulator,real-time control of the manipulator is required.Firstly,according to the motion characteristics of the six-axis manipulator,the kinematics analysis is carried out,and DH parameter modeling is used to find the positive and inverse solution algorithm of the six-axis manipulator.Then the Solidworks 3D model is ex-ported as a Simscape model,and the motion control algorithm of the manipulator is designed and the visu-al simulation of the manipulator is completed by using Simulink to realize the control of the manipulator.Finally,the images of the changes in joint parameters of the robotic arm over time during motion were ob-tained.The accuracy of the robotic arm model and the forward and inverse solution algorithms were veri-fied by comparing theoretical data and simulation results.The results showed that six physical model of the mechanical arm and the forward and inverse solution algorithm simulation model is accurate,providing theoretical support for real-time control of the robotic arm.
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