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International Standard Serial Number:
ISSN 1001-4551
Sponsor:
Zhejiang University;
Zhejiang Machinery and Electrical Group
Edited by:
Editorial of Journal of Mechanical & Electrical Engineering
Chief Editor:
ZHAO Qun
Vice Chief Editor:
TANG ren-zhong,
LUO Xiang-yang
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Kinematical analysis and simulation of industrial robot based on Matlab
WANG Zhixing, FAN Wenxin, ZHANG Baocheng，SHI Yuanyuan
（School of Mechanical Engineering ＆ Automation, North University of China, Taiyuan 030051,China）
Abstract: For the purpose of making kinematic researsh on industrial robot more effective, Stanford arm was studied. Structure and link parameters were analyzed，modified form of DenavitHartenberg notation was applied in establishing link coordinates and kinematical equation. Matlab and Robotics Toolbox were utilized to configure the arm’s kinematic model as the software are excellent in drawing and matrix manupulation, validity of kinematical equation was verified. The results show that, it can visualize motion process by means of manual driving and trajectory planning simulation.
Key words: industrial robot; Matlab; kinematics;trajectory; simulation
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