Kinematics Control and Analysis of Industrial Robot

International Conference on Robotics and Mechantronics

机械制造;无线电电子学;计算机科学

Zhu, Tongbo^1 ; Cai, Fan^1 ; Li, Yongmei^1 ; Liu, Wei^1

Minnan University of Science and Technology, Provincial Key Laboratory of Industrial Robot Measurement and Control, Rapid Die Manufacturing, Quanzhou Fujian

362700, China^1

关键词: Articulated robots;    Co-ordinate system;    Homogeneous transformations;    Kinematic Analysis;    Kinematics control;    Kinematics equation;    Position and orientations;    Present situation;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/320/1/012004/pdf
DOI  :  10.1088/1757-899X/320/1/012004

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

The robot's development present situation, basic principle and control system are introduced briefly. Research is mainly focused on the study of the robot's kinematics and motion control. The structural analysis of a planar articulated robot (SCARA) robot is presented,the coordinate system is established to obtain the position and orientation matrix of the end effector,a method of robot kinematics analysis based on homogeneous transformation method is proposed, and the kinematics solution of the robot is obtained.Establishment of industrial robot's kinematics equation and formula for positive kinematics by example. Finally,the kinematic analysis of this robot was verified by examples.It provides a basis for structural design and motion control.It has active significance to promote the motion control of industrial robot.