Study on workspace analysis of 6r robot based on envelope method

Abstract

Discussing the workspace of the 6-R industrial robot.Using envelope method based on solution by group to solve the theoretical workspace and then emulating with mixed-language programming.The Matlab program of the workspace has been embedded into the C# program interface.So the two-plane projections of the workspace in control system interface show the largest working scope and provide a reliable basis for the robot teaching and trajectory.