Kinematic analysis and simulation of the 8R robotic arm based on Matlab
In order to make the rock drilling robot arm reach the predetermined attitude quickly and accurately,the 8R robot arm is used as the object of study,the kinematic equations of the arm are derived based on the improved D-H method.The kinematic model is programmed in Matlab using toolbox functions and the accuracy of the forward and inverse kinematics of the solution is verified by substituting the positional angles.The results of the simulated working space graphs and joint positions,velocities and acceleration curves at the path point loci can meet the working requirements of the robotic arm for rock drilling,laying a good foundation for the later hole sequence planning and dynamics analysis of the robotic arm.
rock drilling robotic armskinematic analysisMatlabworkspacetrack planning
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