Modelling and control of a six-degree-of-freedom manipulator

被引：0

作者：

Li, Zheng ^{[1
]}

Du, Lei ^{[1
]}

Han, Ruihua ^{[1
]}

Wang, Qunjing ^{[2
]}

机构：

[1] School of Electrical Engineering, Hebei University of Science and Technology, Shijiazhuang, China

[2] National Engineering Laboratory of Energy-saving Motor & Control Technique, Anhui University, Hefei, China

来源：

EEA - Electrotehnica, Electronica, Automatica | 2018年 / 66卷 / 02期

基金：

中国国家自然科学基金;

关键词：

Inverse problems - Inverse kinematics - Degrees of freedom (mechanics) - Linear transformations - MATLAB;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

In this paper, a manipulator with six-degree-of-freedom is presented with its detailed mathematical modelling and analysis. Firstly, the kinematic mathematical models are established by D-H method. Combining the transformation matrix and the algebraic method, the forward kinematics equations based on D-H parameters are solved and the inversed kinematics equations are computed by the decoupling method. The correctness of the inverse kinematic analysis is verified by the positive kinematic analysis. Then, the manipulator model is visualized and simulated by using toolbox robotic from MATLAB. The workspace is simulated and analysed, which lays a solid theoretical foundation for dynamics analysis and control simulation. Thirdly, the 6-DOF manipulator is modelled by ADAMS dynamics, and the PID joint control simulation with MATLAB is completed. The rationality and accuracy of the joint simulation control system are verified. Finally, the experiment of the robot arm is implemented, which laids a good foundation for the further optimization control of the manipulator. © 2018, ICPE Electra Publishing House. All Rights Reserved.

引用

页码：104 / 110