2019
DOI: 10.18280/jesa.520513
|View full text |Cite
|
Sign up to set email alerts
|

Kinematics Modelling and Experimental Analysis of a Six-Joint Manipulator

Abstract: This paper establishes a kinematics model for a six degree-of-freedom (DOF) manipulator, and verifies its correctness through simulation and experiment. First, the model was set up through the D-H method. Then, the homogenous matrix transform was introduced to perform forward kinematics analysis and calculate the attitude of the end effector. Then, the manipulator position and trajectory were simulated on Robotics Toolbox for MATLAB and RoboDK. Finally, the simulated trajectory was verified through an experime… Show more

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...
3
1
1

Citation Types

0
6
0

Year Published

2020
2020
2024
2024

Publication Types

Select...
5
2

Relationship

0
7

Authors

Journals

citations
Cited by 10 publications
(7 citation statements)
references
References 10 publications
0
6
0
Order By: Relevance
“…It meets the requirements of completeness, liminality, and continuity in parameter identification for all models consisting of rotating and moving joints. Due to the high cost of direct measurement of parameters using highprecision external measurement tools to obtain the posture information, the method requires professional researchers to perform debugging, and the workload is time-consuming [13]. Many scholars have studied and analyzed indirect measurements by loading sensors for calibration.…”
Section: Related Workmentioning
confidence: 99%
“…It meets the requirements of completeness, liminality, and continuity in parameter identification for all models consisting of rotating and moving joints. Due to the high cost of direct measurement of parameters using highprecision external measurement tools to obtain the posture information, the method requires professional researchers to perform debugging, and the workload is time-consuming [13]. Many scholars have studied and analyzed indirect measurements by loading sensors for calibration.…”
Section: Related Workmentioning
confidence: 99%
“…The structure feature model of human motions is illustrated in Figure 1 below. Assuming that the human skeleton in Figure 1 has N joints, the world coordinate systems A and B were constructed based on the Denavit-Hartenberg (D-H) notation [18] for the spatial pose of the mathematical model of the kinematics chain. The D-H method can handle the key steps of the mapping from the Descartes space.…”
Section: Methodsmentioning
confidence: 99%
“…e application of manipulators makes production more efficient and flexible. e core issue of automatic manipulator tracking control is how to ensure the given moving target follows the expected trajectory and adapts to various uncertain factors [7][8][9][10][11]. It is of great practical significance to derive an automatic tracking control strategy for moving targets under uncertainties and external interference.…”
Section: Introductionmentioning
confidence: 99%