Research on Kinematic Modeling and Analysis Methods of UR Robot

摘要

Kinematic modeling and analysis is the foundation and focus of robotics research. In this paper, taking a 6 degrees of freedom (DOF) UR10 robot as the research object. Based on the homogenous transformation and screw theory, the kinematic modeling of the robot was performed with Denavit-Hartenberg (D-H) parameterization method and product-of-exponentials (POE) method respectively. In addition, the forward and inverse kinematics analysis are carried out based on the established kinematics models. Finally, the D-H parameterization method and POE method are compared in kinematic modeling and analysis, the advantages and disadvantages of the two methods are pointed out as well, which provide guidance for the modeling and analysis of a robot with specific configuration.