Six-axis industrial manipulator modeling and MATLAB simulation

Ziming Zou; Xinpeng Wang

doi:10.1117/12.2684793

21 July 2023 Six-axis industrial manipulator modeling and MATLAB simulation

Ziming Zou, Xinpeng Wang

Proceedings Volume 12717, 3rd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2023); 127171E (2023) https://doi.org/10.1117/12.2684793
Event: 3rd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2023), 2023, Wuhan, China

Abstract

According to the motion characteristics of the six-axis manipulator, the D-H method is used to create the coordinate system of each joint, obtain its parameters, and derive the forward and inverse kinematics equations. The simulation model of the manipulator is created by using the MATALB Robotics toolbox, and its forward and inverse motion and trajectory planning are simulated. Through simulation, under the joint space planning, the relationship diagram of each joint parameter with time during the movement of the manipulator model is obtained. Under the Cartesian space planning, the linear motion trajectory of the end of the manipulator is obtained. By comparing the theoretical data and simulation results, the correctness of the manipulator model and the accuracy of the forward and inverse motion formulas are verified.

Citation Download Citation

Ziming Zou and Xinpeng Wang "Six-axis industrial manipulator modeling and MATLAB simulation", Proc. SPIE 12717, 3rd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2023), 127171E (21 July 2023); https://doi.org/10.1117/12.2684793

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