Kinematic modeling and validation of a 6-DOF industrial robot

DOI

10.2991/iccsae-15.2016.42How to use a DOI?

Keywords

Industrial robot, Kinematic model, Graphic simulation, Transformation.

Abstract

The kinematic model of industrial robots is the transformation between the working space and the space of joints. After analysis of the kinematic methods in the area of linkage mechanisms, the kinematic model was established according to DH method for a 6-DOF industrial robot. To verify the kinematic model, the graphic simulation of the industrial robot was established with Robotics Toolbox in Matlab. The calculation result of the kinematic model and the simulation are consistent. Experiments were carried out to verify the kinematic model, which shows that the kinematic model is correct.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Guo-Qing Sun
AU  - Guan-Bin Gao
PY  - 2016/02
DA  - 2016/02
TI  - Kinematic modeling and validation of a 6-DOF industrial robot
BT  - Proceedings of the 2015 5th International Conference on Computer Sciences and Automation Engineering
PB  - Atlantis Press
SP  - 218
EP  - 221
SN  - 2352-538X
UR  - https://doi.org/10.2991/iccsae-15.2016.42
DO  - 10.2991/iccsae-15.2016.42
ID  - Sun2016/02
ER  -