Kinematics analysis and trajectory planning of 6-DOF robot

Abstract

With the large-scale development of Intelligent Manufacturing in China, robot technology has been widely applied in the industrial field. Aiming at the motion of six-degree-of-freedom robot, the structure and link parameters of the robot are analyzed, and the forward/reverse kinematics model of the robot is deduced by D-H parameter method. Through the simulation of trajectory planning, the angle, angular velocity and angular acceleration of the 6-DOF robot in the process of motion are analyzed.