Research on Experimental Schemes of Kinematics Analysis of Robot

To carry out research on kinematics analysis of robot in undergraduate,it was proposed that make use of basic knowledge of robot kinematics and homogeneous transformation to get the coordinate transformation equation in this paper. One used the DH parameters to analyze robot's position and orientation to introduce kinematics and inverse kinematics of robot. An experimental scheme of kinematics analysis of robot was formulated. It was confirmed that the experimental scheme was feasible,through which can achieve experimental purposes,and do the kinematic analysis independently.