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2016•Advances in computer science researchOpen access

Kinematic modeling and validation of a 6-DOF industrial robot

Guoqing Sun, Guanbin Gao

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Abstract

The kinematic model of industrial robots is the transformation between the working space and the space of joints.After analysis of the kinematic methods in the area of linkage mechanisms, the kinematic model was established according to DH method for a 6-DOF industrial robot.To verify the kinematic model, the graphic simulation of the industrial robot was established with Robotics Toolbox in Matlab.The calculation result of the kinematic model and the simulation are consistent.Experiments were carried out to verify the kinematic model, which shows that the kinematic model is correct.

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The kinematic model of industrial robots is the transformation between the working space and the space of joints.After analysis of the kinematic methods in the area of linkage mechanisms, the kinematic model was established according to DH method for a 6-DOF industrial robot.To verify the kinematic model, the graphic simulation of the industrial robot was established with Robotics Toolbox in Matlab.The calculation result of the kinematic model and the simulation are consistent.Experiments were carried out to verify the kinematic model, which shows that the kinematic model is correct.

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Available abstract

The kinematic model of industrial robots is the transformation between the working space and the space of joints.After analysis of the kinematic methods in the area of linkage mechanisms, the kinematic model was established according to DH method for a 6-DOF industrial robot.To verify the kinematic model, the graphic simulation of the industrial robot was established with Robotics Toolbox in Matlab.The calculation result of the kinematic model and the simulation are consistent.Experiments were carried out to verify the kinematic model, which shows that the kinematic model is correct.

Key concepts: Kinematics, Robot kinematics, Robot, Linkage (software), Industrial robot, Computer science, MATLAB, Transformation (genetics)

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