6-Axis Serial Robot Simulation Based on SimulationX

This paper presents research and simulation analysis on kinematics and dynamics problem based on the 6-axis serial robot. By means of Denavit-Hartenberg method, the robot kinematics model is established as well as and the derivation process of kinematic and inverse kinematic resolution is described...

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Bibliographic Details
Published inApplied Mechanics and Materials Vol. 152-154; pp. 1010 - 1017
Main Authors Shan, Jia Yua, Bi, Lu Yan, Zhao, Si Jun
Format Journal Article
LanguageEnglish
Published Zurich Trans Tech Publications Ltd 01.01.2012
Subjects
6-Axis Serial Robot
Kinematics Solution
SimulationX
Denavit-Hartenberg Method
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Summary:This paper presents research and simulation analysis on kinematics and dynamics problem based on the 6-axis serial robot. By means of Denavit-Hartenberg method, the robot kinematics model is established as well as and the derivation process of kinematic and inverse kinematic resolution is described in detail. Furthermore, in software simulationX, robot system model including mechanical sub-system and control sub-system are founded. Additionally, through simulation, different performances of robot are illustrated based on different trajectory planning and control. In this way a theoretical reference is provided for the further study on trajectory planning and controls of 6-axis serial robot.
Bibliography:Selected, peer reviewed papers from the 2012 International Conference on Mechanical Engineering and Materials (ICMEM 2012), January 15-16, 2012, Melbourne, Australia
ISBN:9783037853528
3037853522
ISSN:1660-9336
1662-7482
1662-7482
DOI:10.4028/www.scientific.net/AMM.152-154.1010