Study of the Static Characteristics of the Workspace Ar600e Robot

Abstract

The workspace is one of the most important parameters for evaluating robot flexibility and is important for optimizing robotic configuration, motion planning and control. Firstly, a kinematic model of the manipulator based on its basic structure was put forward. The systems of connection coordinates are established and the direct kinematic solution derived using DH methods. On its basis, the working space of the manipulator analyzed by the Monte Carlo method, based on random probability and software simulation MATLAB for the structural parameters of the robot. A cloud of workspace points has been compiled. Considering the problem of insufficient accuracy of the traditional Monte Carlo method in calculating the working space of the robot, an improved Monte Carlo method using the Beta distribution proposed.