Kinematics Analysis and Simulation of a 4-DOF Manipulator

Abstract:

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Detailed analysis is given to kinematics of a 4-DOF manipulator. Forward and inverse kinematics of the manipulator is performed through Denevit and Hartenberg method. Kinematics equations are obtained, whereupon mathematic formulas are provided for the manipulator control. The effectiveness of kinematics equations is verified by the Robotics Toolbox simulation of the Matlab.

Info:

Periodical:

Edited by:

Ran Chen

Pages:

656-660

DOI:

10.4028/www.scientific.net/AMM.44-47.656

Citation:

Y. J. Cui and J. N. Hua, "Kinematics Analysis and Simulation of a 4-DOF Manipulator", Applied Mechanics and Materials, Vols. 44-47, pp. 656-660, 2011

Online since:

December 2010

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Price:

$35.00

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