Kinematics Analysis and Simulation of 6R Industrial Robot

Zang, Qiang; Zhu, Qing-hao; Tu, Zhuang; Zhang, Kai

doi:10.1007/978-981-15-8155-7_328

Cited by 2 publications

(1 citation statement)

References 4 publications

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“…The rapid development of embedded graphics processors and their corresponding programming models, such as OpenGL ES, has enabled real-time image processing on portable devices. Due to its low hardware overhead, OpenGL ES is an excellent choice for achieving high-performance image processing on ARM-embedded GPUs [13] . The research on high-performance implementation and optimization of rasterization-based image processing algorithms based on OpenGL ES holds signi cant practical signi cance.…”

Section: Analysis Of Image Space Renderingmentioning

confidence: 99%

Research on Embedded 3D Simulation System for Collaborative Robots

Gao,

Geng,

et al. 2024

Preprint

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In this article designing an embedded simulation system for heavy collaborative robots. From the perspective of control system autonomy, controllability, and economy, the selection of ARM SOC for the embedded computer hardware, LCD driver for the upper computer, Linux operating system, and OpenCasCade for the 3D geometry engine were completed. The localization rate of the industrial robot control system was improved while ensuring performance requirements. Establish a kinematic mathematical model of the robot based on the DH parameter method, and obtain the kinematic equation of the robot's end effector. Simultaneously building an ARM Linux environment that can run simulation systems, using the 3D geometry engine OpenCasCade to load the robot standard STEP model file, using QtCreator to simulate and model the robot, and conducting instance simulations. By analyzing the motion of the robot through simulation results, the correctness of the kinematic algorithm was verified, which meets the expected design goals and provides a reliable basis for the research of collaborative robot trajectory planning and control。

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Section: Analysis Of Image Space Renderingmentioning

confidence: 99%

Research on Embedded 3D Simulation System for Collaborative Robots

Gao,

Geng,

et al. 2024

Preprint

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A kinematic modeling scheme of three-axis "Satcom-on-the-Move" antenna based on modified Denavit-Hartenberg method

Ren

et al. 2023

JNWPU

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The current three-axes Satcom-on-the-Move(SOTM) antenna modeling method has some shortcomings, such as low model accuracy, poor portability and so on. In order to solve the above-mentioned shortcomings, a new modified Denavit-Hartenberg(NMDH) kinematics modeling scheme for the three-axes SOTM antenna was proposed. To overcome the modeling difficulties caused by the inherent mechanical structure of the antenna, and meet the requirements of the modified Denavit-Hartenberg(MDH) method, the virtual coordinate system and auxiliary coordinate systems are designed and added respectively on the basis of the MDH method, the forward kinematics model and inverse kinematics solution of the three-axes SOTM antenna are obtained. The correctness of the NMDH modeling scheme is verified by digital simulation. Finally, the system tests are carried out. The test results show that the NMDH modeling scheme proposed in this paper achieves good effect of antenna tracking satellite, and has stronger portability than the system identification modeling method commonly used in engineering.

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Kinematics Analysis and Simulation of 6R Industrial Robot

Cited by 2 publications

References 4 publications

Research on Embedded 3D Simulation System for Collaborative Robots

Research on Embedded 3D Simulation System for Collaborative Robots

A kinematic modeling scheme of three-axis "Satcom-on-the-Move" antenna based on modified Denavit-Hartenberg method

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