Kinematics Analysis and Simulation of a 4-DOF Manipulator

Yu Jie Cui; Jian Ning Hua

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

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 44-47Kinematics Analysis and Simulation of a 4-DOF...

Kinematics Analysis and Simulation of a 4-DOF Manipulator

Abstract:

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.

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Periodical:

Applied Mechanics and Materials (Volumes 44-47)

Pages:

656-660

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.44-47.656

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Online since:

December 2010

Authors:

Yu Jie Cui, Jian Ning Hua

Keywords:

Kinematic Simulation, Manipulator, MATLAB, Robotics Toolbox

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