Study on Kinematics Simulation for Six Degree-of-Freedom Industrial Robot Arms

Yun Yang; Song Hua; Xu Bingji

doi:10.13433/j.cnki.1003-8728.20180029

Volume 37 Issue 8

Aug. 2018

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Article Navigation > Mechanical Science and Technology for Aerospace Engineering > 2018 > 37(8): 1167-1176

Yun Yang, Song Hua, Xu Bingji. Study on Kinematics Simulation for Six Degree-of-Freedom Industrial Robot Arms[J]. Mechanical Science and Technology for Aerospace Engineering, 2018, 37(8): 1167-1176. doi: 10.13433/j.cnki.1003-8728.20180029

Citation:

Yun Yang, Song Hua, Xu Bingji. Study on Kinematics Simulation for Six Degree-of-Freedom Industrial Robot Arms[J]. Mechanical Science and Technology for Aerospace Engineering, 2018, 37(8): 1167-1176. doi: 10.13433/j.cnki.1003-8728.20180029

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Study on Kinematics Simulation for Six Degree-of-Freedom Industrial Robot Arms

doi: 10.13433/j.cnki.1003-8728.20180029

Yun Yang^1,2,
Song Hua^{2
,
,},
Xu Bingji¹

1.
China University of Geosciences(Beijing), Beijing 100083, China;
2.
Beihang University, Beijing 100191, China

Received Date: 2017-06-13
Publish Date: 2018-08-05

Abstract

Abstract

In order to solve the traditional interpolation method of manipulator running slowly, this paper adopts a structuring Jacobi function approach to interpolation on the target curve, calculates the Jacobi matrix of each point on the curve according to the target curve, and forms a Jacobi matrix function. Then the target curve is fitted out the end effector speed function and each arm angular velocity function at the joint. Therefore, this paper calculates the Jacobi matrix of each position in real-time to obtain the speed of each joint according to end effector speed, which ensures that the end effector speed is controllable at each position in the workspace. At last, KUKA KR30-3 industrial robot model is used to simulate and validate this method, and its simulation analysis is done in helmet processing. The simulation results show that the speed function of each joint angle of manipulator can be calculated according to the end effector position function, and the continuity of velocity can be guaranteed when the singularity of the manipulator is avoided.
- manipulator,
- velocity functions,
- angular velocity

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References(16)

References

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