Simulation and Research of the Space 5-DOF Manipulator Kinematics and Dynamics

Abstract:

Kinematics and dynamics calculation is meaningful both in the design stage and the movement control stage of a manipulator. After the comparison among different methods of manipulator kinematics and dynamics，this paper adopts homogeneous coordinate transformation to analyze and research positive solutions of the space 5-DOF manipulator kinematics, applies mathematics in the approximate calculation to solve the equations’ inverse problems because of the explicit difficult nature to derive analytic solution; conducts dynamics analysis to the manipulator and adopts the Lagrange dynamics method to establish an ideal model, i.e., a dynamics model integrating with corresponding computer algorithm without considering the influences of friction force, to complete the research on the simulation calculation of dynamics inverse solution.

• Periodical: Key Engineering Materials (Volumes 419-420)
• Pages: 585-588
• DOI: https://doi.org/10.4028/www.scientific.net/KEM.419-420.585
• Online since: October 2009
• Authors: Li Quan Li, Jin Li Wang, Yong Gang Pang
• Keywords: Dynamic, Kinematics, Lagrange Equation, Simulation

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