Working Space Analysis and Simulation of Modular Service Robot Arm Based on Monte Carlo Method

Abstract:

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Robot working space is an important kinematic indicator. After the modular service robot arm was introduced, DH coordinate system was used to build kinematics equations of 5-DOFs services robot arm. The whole working space model of the robot system was then established. Monte Carlo method was used to simulate the working space, which can straightforwardly and visually describe the working space of robot with high speed. It was indicated that the working points in the workspace of the robot were distributed compactly and uniformly, which can meet design requirements with high efficiency. The effectiveness of the working space model was testified by the simulation analysis on Matlab and experimental validation.

Info:

Periodical:

Edited by:

Shengyi Li, Yingchun Liu, Rongbo Zhu, Hongguang Li, Wensi Ding

Pages:

1104-1108

DOI:

10.4028/www.scientific.net/AMM.34-35.1104

Citation:

B. He et al., "Working Space Analysis and Simulation of Modular Service Robot Arm Based on Monte Carlo Method", Applied Mechanics and Materials, Vols. 34-35, pp. 1104-1108, 2010

Online since:

October 2010

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Price:

$35.00

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