Kinematics simulation analysis of a 7-DOF series robot

Abstract

The development of modern intelligent manufacturing technology has become more and more widely used in robots, especially the use of 7-DOF robots in machine tool processing. In order to ensure the accuracy of the robot's motion angle, the kinematics of the 7-DOF tandem robot is studied, and the forward kinematics and inverse kinematics are analysed. Firstly, the forward kinematics equation of the 7-DOF tandem robot is established by the spin theory method. Secondly, based on the forward kinematics equation, the geometric solution, the pose separation method and the shortest stroke are combined to solve the inverse solution of the robot. Finally, after simulation the kinematic angle function curve and the change value of the joint angle change curve are obtained. The result verifies the validity and correctness of the proposed method, and shows that the method has the characteristics of high precision and small calculation.