Modeling and Numerical Simulation for the Kinematics of Six Revolute Joint Robot

DOI

10.2991/icecee-15.2015.274How to use a DOI?

Keywords

Robot; direct kinematics; inverses kinematics; D-H method.

Abstract

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.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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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
BT  - Proceedings of the 2015 International Conference on Electrical, Computer Engineering and Electronics
PB  - Atlantis Press
SP  - 1463
EP  - 1468
SN  - 2352-538X
UR  - https://doi.org/10.2991/icecee-15.2015.274
DO  - 10.2991/icecee-15.2015.274
ID  - Yin2015/06
ER  -