Kinematics Modeling and Analysis of MOTOMAN-HP20 Robot
Jiyou Fei, Chen Huang
Available Online May 2016.
- https://doi.org/10.2991/wartia-16.2016.185How to use a DOI?
- Rotation matrix, forward kinematics, inverse kinematics, robot workspace
- The improved kinematics method based on the orthogonality of rotation matrix and matrix block is presented for MOTOMAN - HP20 robot to improve the computing speed of the robot kinematics.Firstly, according to the robot structure, the forward kinematics model is established with D-H method. And for the inverse kinematics, the separation method of position and orientation matrix is used to transform complex matrix equation into eight algebraic equations to improve the computing speed. For extraneous roots, the optimal solution is confirmed by selecting the closest one to the current joint angle with the solving order directly, instead of computing all the roots. Finally, the workspace is obstained by the simulation and the kinematics analysis method is proved to be efficient.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
TY - CONF AU - Jiyou Fei AU - Chen Huang PY - 2016/05 DA - 2016/05 TI - Kinematics Modeling and Analysis of MOTOMAN-HP20 Robot BT - Proceedings of the 2016 2nd Workshop on Advanced Research and Technology in Industry Applications PB - Atlantis Press SP - 874 EP - 878 SN - 2352-5401 UR - https://doi.org/10.2991/wartia-16.2016.185 DO - https://doi.org/10.2991/wartia-16.2016.185 ID - Fei2016/05 ER -