Kinematic analysis and simulation of small two-armed rescue robot
According to the introduction to robotics,the kinematics analysis of the robot arm is carried out.D-H(Denavit-Hartenberg)method is used to establish the connecting rod coordinate system of the robot manipulator,establish and analyze the forward and inverse kinematics model of the manipulator,and give the analytical solution of the inverse kinematics.According to the solution results of forward kinematics,Monte Carlo method is used to solve the workspace of the manipulator in MATLAB,and the working range of the manipulator is verified to meet the task requirements.In order to verify the correctness of the mathematical model established,MATLAB-Robotic Toolbox is used to write calculation programs according to the mathematical model established to verify the correctness of the forward and inverse kinematics mathematical model.According to the motion process of the manipulator,the motion planning is carried out to obtain the variations of the joint variables of the manipulator,and the stability of the trajectory motion of the manipulator is verified.
rescue robotforward and inverse kinematicsworkspacetrajectory planning
NETL
NSTL
万方数据
