Kinematics Analysis and Simulation of Six - DOF Industrial Robot
||International Journal of Computer Trends and Technology (IJCTT)||
|© 2017 by IJCTT Journal|
|Year of Publication : 2017|
|Authors : Linna Xu, Zhenhua Wang, Yameng Zhai|
|DOI : 10.14445/22312803/IJCTT-V49P137|
Linna Xu, Zhenhua Wang, Yameng Zhai "Kinematics Analysis and Simulation of Six - DOF Industrial Robot". International Journal of Computer Trends and Technology (IJCTT) V49(4):229-232, July 2017. ISSN:2231-2803. www.ijcttjournal.org. Published by Seventh Sense Research Group.
This passage takes ABB IRB4600-60 industrial robot as the object of study, using the D-H rule to establish the kinematics coordinate system of robot, then deduce the kinematics equation and the positive and inverse solutions of the robot are obtained by combining the structural parameters of the robot. The kinematics of robot is modelled and simulated by using MATLAB Robotics Toolbox. It provides a reliable theoretical basis for the development of robot off-line programming system.
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industrial robot, D-H rule, kinematics simulation.