Space Motion Planning for one Kind of Six-Axis Robot Based on Inverse Kinematics

Abstract:

Robot control is of great importance in modern industrial manufacture. This paper introduces a motion planning of one kind of six-axis robot. D-H Model and transfer matrices are constructed based on a certain kind of six-axis robot. Inverse kinematics method is applied to obtain every angle of axes, which can work out the space trajectory in DSP with an interpolation method. Experiments and simulations show that the motion planning achieves a quick response and high accuracy.

• Periodical: Applied Mechanics and Materials (Volumes 494-495)
• Pages: 1310-1315
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.494-495.1310
• Online since: February 2014
• Authors: Xu Jin*, Gang Feng Yan
• Keywords: D-H Model, Inverse Kinematics, Six-Axis Robot

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