Kinematical analysis and simulation of industrial robot based on Matlab

摘要

For the purpose of making kinematic researsh on industrial robot more effective,Stanford arm was studied.Structure and link parameters were analyzed,modified form of Denavit-Hartenberg notation was applied in establishing link coordinates and kinematical equation.Matlab and Robotics Toolbox were utilized to configure the arm's kinematic model as the software are excellent in drawing and matrix manupulation,validity of kinematical equation was verified.The results show that,it can visualize motion process by means of manual driving and trajectory planning simulation.