Kinematical and Dynamic Analysis of 6-DOF Industrial Robot

摘要

The 6-DOF industrial robot was studied and D-H method was used to analyze the kinematical of robot and obtain the kinematical equation. Dynamic equation was established by using Lagrange. The simulation of kinematical and dynamic was built by Matlab software. The result of analysis lays a foundation for the research on dynamic characteristics of robots and their control methods.