Journal of Jilin Institute of Chemical Technology, 2021, 38(11): 59-62    doi: 10.16039/j.cnki.cn22-1249.2021.11.012
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Kinematics Analysis and Verification of Six Axis Manipulator based on MATLAB
YU Fangxin,SUN Mingge*,ZHOU Haiyu**
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Abstract  

For the hyundai-hs220 six axis manipulator, the improved D-H modeling method is used to construct the robot joint coordinate system, the forward and inverse kinematics equations are analyzed and deduced, the robot model is constructed in the simulation environment based on MATLAB platform and robot toolbox, the forward and inverse kinematics equations are simulated and calculated respectively, and the correctness of the kinematics equations is verified. In the experiment of trajectory planning in joint space, the continuous and stable motion curves of each joint are obtained, which lays a theoretical foundation for the follow-up trajectory planning control.

Key words six axis manipulator      kinematics      MATLAB      simulation      
Published: 25 November 2021
:  TP242.2  
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YU Fangxin
SUN Mingge
ZHOU Haiyu
Cite this article:   
YU Fangxin,SUN Mingge,ZHOU Haiyu. Kinematics Analysis and Verification of Six Axis Manipulator based on MATLAB [J]. Journal of Jilin Institute of Chemical Technology, 2021, 38(11): 59-62.
URL:  
https://xuebao.jlict.edu.cn/EN/10.16039/j.cnki.cn22-1249.2021.11.012     OR     https://xuebao.jlict.edu.cn/EN/Y2021/V38/I11/59