Trajectory Optimization and Simulation of Aerospace Robotic Arm

Li Jun Zong; Guang Kuo Wang; Xin Li; Lei Wang; Xiao Min Zhang; Li Jia Wang; Ji Ming Dong; Bai Wei Guo

doi:10.4028/www.scientific.net/AMR.655-657.1057

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 655-657Trajectory Optimization and Simulation of...

Trajectory Optimization and Simulation of Aerospace Robotic Arm

Abstract:

Aerospace robotic arms have important applications in aerospace engineering (capture satellite, develop the technology of extra-vehicle activity (EVA), etc.) This paper first introduces the development and background of the Aerospace Robotic Arm. In later sections, a kinematics model of a Six-DOF manipulator is built based on DenavitHartenberg(D-H) method, then, the paper discusses an inverse kinematics solving method of the manipulator. At last, we show the simulation by integrating the use of SolidWorks, Matlab, and a number of their modules.

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Periodical:

Advanced Materials Research (Volumes 655-657)

Pages:

1057-1060

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.655-657.1057

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Online since:

January 2013

Authors:

Li Jun Zong, Guang Kuo Wang, Xin Li, Lei Wang, Xiao Min Zhang, Li Jia Wang, Ji Ming Dong, Bai Wei Guo

Keywords:

Aerospace Robotic Arm, D-H Model Optimization Algorithm, Motion Simulation

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