Simulation and Research of the Space 5-DOF Manipulator Kinematics and Dynamics
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.
Daizhong Su, Qingbin Zhang and Shifan Zhu
L. Q. Li et al., "Simulation and Research of the Space 5-DOF Manipulator Kinematics and Dynamics", Key Engineering Materials, Vols. 419-420, pp. 585-588, 2010