Paper Title:

Kinematics Simulation of Industrial Robot Based on MATLAB

Periodical Advanced Materials Research (Volumes 415 - 417)
Main Theme Advanced Materials, ICAMMP 2011
Chapter Chapter 2: Micro / Nano Materials
Edited by Jinglong Bu, Zhengyi Jiang and Sihai Jiao
Pages 690-696
DOI 10.4028/www.scientific.net/AMR.415-417.690
Citation Han Ming Cai et al., 2011, Advanced Materials Research, 415-417, 690
Online since December, 2011
Authors Han Ming Cai, Ting Ting Xing
Keywords Industrial Robot, Inverse Kinematics Solver, Kinematic Simulation, MATLAB, Workspace Analysis
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In this paper, we discussed the kinematics simulation of a six DOF (degree of freedom) industrial robot, modeling the robot with PRO/E. D-H coordinate transformation method is used to establish coordinates of robot kinematics mathematical model and the target matrix. The powerful symbolic computation of MATLAB functions is used to analyze the equation, and the inverse kinematics solution is obtained. The joint trajectory of the robot in the implementation of task and workspace are worked out through the forward kinematics solution.

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