Kinematics Simulation of 4 DOF Manipulator

摘要

For a 4-DOF manipulator, The Kinematic Model of Manipulator is built by the method of D-H, Analysis the solution of forward and inverse kinematics of manipulator, The method that algebraic method combined with the geometric method is used to solve forward and inverse kinematics. MATLAB software is used to simulate and get the working space diagram of the manipulator. The Forward and Inverse kinematics and the trajectory planning are simulated by using Robotics Toolbox and this algorithm is proved to be feasible and accurate, which provides the theoretical basis for the subsequent analysis and research of manipulator.