Jiwu Wang. Shuo Han
Pages 371-374
Abstract
The 6R robot can imitate the human arm to complete some target grabbing tasks, so the kinematics analysis of the robot is significant in scientific research and practical application. In this paper, a kinematics solution method of 6R robot based on analytic method is introduced, which is faster and more accurate in solution than the numerical method. Then the trajectory of the end effector is planned by using the quintic polynomial method,in this way, there are no sudden changes in the speed of the end effector of the robot, and the operation is more stable.Furthermore, the accuracy of the kinematics solution method is verified and the motion trajectory of the manipulator is simulated by Matlab. At last ,the visualization of the robot kinematics model was realized based on the Simulink, and the kinematics simulation control system was established.
Keywords: 6-DOF robot, forward kinematics, inverse kinematics, simulation