International Journal of Computer
Trends and Technology

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Volume 49 | Number 2 | Year 2017 | Article Id. IJCTT-V49P137 | DOI : https://doi.org/10.14445/22312803/IJCTT-V49P137

Kinematics Analysis and Simulation of Six - DOF Industrial Robot

Linna Xu, Zhenhua Wang, Yameng Zhai

Citation :

Linna Xu, Zhenhua Wang, Yameng Zhai, "Kinematics Analysis and Simulation of Six - DOF Industrial Robot," International Journal of Computer Trends and Technology (IJCTT), vol. 49, no. 2, pp. 229-232, 2017. Crossref, https://doi.org/10.14445/22312803/IJCTT-V49P137

Abstract

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.

Keywords

industrial robot, D-H rule, kinematics simulation.

References

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