Kinematic Characteristics Analysis of 6-DOF Robot Based on Matlab

Abstract

6R robot joint coordinate systems were established and link parameters were determined by Denavit-Hartenberg method,and the robot forward and inverse kinematics model were established.In the MATLAB,the workspace of the robot was calculated by the Monte Carlo method.The forward kinematics and inverse kinematics were simulated,and trajectories of workspace and joint space were planned by the Robotics Toolbox,so as to verify the rationality of the design of the structure.The necessary foundation was laid for dynamics analysis,offline programming,based on force feedback of the robot dynamic control and the dynamic design of the robot structure.