Kinematics Modelling and Experimental Analysis of a Six-Joint Manipulator

Abstract

This paper establishes a kinematics model for a six degree-of-freedom (DOF) manipulator, and verifies its correctness through simulation and experiment.First, the model was set up through the D-H method.Then, the homogenous matrix transform was introduced to perform forward kinematics analysis and calculate the attitude of the end effector.Then, the manipulator position and trajectory were simulated on Robotics Toolbox for MATLAB and RoboDK.Finally, the simulated trajectory was verified through an experiment on stacking operation in the lab environment.The results show that the established kinematics model of the manipulator is correct, laying a solid theoretical basis for offline programming and calibration of manipulators.