2011•Advanced materials researchOpen access

Kinematics Simulation of Industrial Robot Based on MATLAB

Han Ming Cai, Ting Ting Xing

Abstract

In this paper, we discussed the kinematics simulation of a six DOF (degree of freedom) industrial robot, modeling the robot with PRO/E. D-H coordinate transformation method is used to establish coordinates of robot kinematics mathematical model and the target matrix. The powerful symbolic computation of MATLAB functions is used to analyze the equation, and the inverse kinematics solution is obtained. The joint trajectory of the robot in the implementation of task and workspace are worked out through the forward kinematics solution.

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Available abstract

Key concepts: Inverse kinematics, Kinematics, Workspace, Robot kinematics, Forward kinematics, Kinematics equations, MATLAB, Robot