6-Axis Serial Robot Simulation Based on SimulationX

Si Jun Zhao; Jia Yua Shan; Lu Yan Bi

doi:10.4028/www.scientific.net/AMM.152-154.1010

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 152-1546-Axis Serial Robot Simulation Based on...

6-Axis Serial Robot Simulation Based on SimulationX

Abstract:

This paper presents research and simulation analysis on kinematics and dynamics problem based on the 6-axis serial robot. By means of Denavit-Hartenberg method, the robot kinematics model is established as well as and the derivation process of kinematic and inverse kinematic resolution is described in detail. Furthermore, in software simulationX, robot system model including mechanical sub-system and control sub-system are founded. Additionally, through simulation, different performances of robot are illustrated based on different trajectory planning and control. In this way a theoretical reference is provided for the further study on trajectory planning and controls of 6-axis serial robot.

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Periodical:

Applied Mechanics and Materials (Volumes 152-154)

Pages:

1010-1017

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.152-154.1010

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Online since:

January 2012

Authors:

Si Jun Zhao, Jia Yua Shan, Lu Yan Bi

Keywords:

6-Axis Serial Robot, Denavit-Hartenberg Method, Kinematics Solution, SimulationX

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References

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DOI: 10.1115/1.4011045

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