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

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.