Modeling and Numerical Simulation for the Kinematics of Six Revolute Joint Robot
Baolin Yin, Bingbing Yan, Yushuo Wang, Xiaoming Feng
Available Online June 2015.
- https://doi.org/10.2991/icecee-15.2015.274How to use a DOI?
- Robot; direct kinematics; inverses kinematics; D-H method.
- The establishment of the kinematics model for robot, including of direct kinematics and inverses kinematics, which is the base of the application of the robot. This paper presents the kinematics model of the six revolute joint robot. Through analysis position with D-H method, the direct kinematics model and inverse kinematics model are established. Given the geometric parameters of the six revolute joint robot, the numerical examples are provided. Therefore, the direct kinematics model and inversed kinematics model are minimal. And the research is applicable to other robot systems with similar mechanical configurations.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
TY - CONF AU - Baolin Yin AU - Bingbing Yan AU - Yushuo Wang AU - Xiaoming Feng PY - 2015/06 DA - 2015/06 TI - Modeling and Numerical Simulation for the Kinematics of Six Revolute Joint Robot PB - Atlantis Press SP - 1463 EP - 1468 SN - 2352-538X UR - https://doi.org/10.2991/icecee-15.2015.274 DO - https://doi.org/10.2991/icecee-15.2015.274 ID - Yin2015/06 ER -