Simulation Analysis of Six-axis Manipulator

2019 2nd International Conference on Advanced Materials, Intelligent Manufacturing and Automation

Tian, Zhihong^1 ; Li, Yaoyao^1 ; Tian, Shuo^1 ; Ning, Peiying^2

Department of Electrical Engineering, Tianjin University of Science and Technology, Tianjin

300222, China^1

Glory Wisdom (Tianjin) Engineering Design Co. Ltd, Tianjin

300070, China^2

关键词: Forward and inverse kinematics;    H-parameter;    Manipulator joints;    Order polynomials;    Simulation analysis;    Six-axis;    Trajectory Planning;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/569/3/032025/pdf
DOI  :  10.1088/1757-899X/569/3/032025

来源: IOP

【 摘 要 】

The D-H parameter method is used to model the six-axis manipulator. Based on this model, the forward and inverse kinematics equations of the manipulator can be derived, so that the relationship of manipulator joint angle and the pose of manipulator can be obtained. Using the fifth-order polynomial interpolation method realizes the manipulator trajectory planning. In this paper, using the free Robotics Toolbox to simulate manipulator, the results show that the simulation of the manipulator is accurate and intuitive, which can provide theoretical basis and reference basis for the actual design and motion control of the manipulator.