Kinematics analysis and simulation of Dobot robot
CAI Hanming, QIAN Yongheng
(Mechanical and Electrical Engineering Collage, Qingdao University of Science and Technology, Qingdao 266061, China)
 

Abstract: In order to obtain Dobot robot forward and inverse kinematics formula, avoid the possibility of the solutions being lost and guarantee the angle precision, according to the structural characteristics of the robot, the coordinate system and the kinematics equation of the robot were established by the method of D-H, forward and inverse kinematics analysis was presented, two variable of the inverse tangent function was applied into the expression of inverse solution. Aiming at the multiple results problem of inverse solution and the problem of motion stability, the joint angle sequence obtained by using linear interpolation and calling inverse solution formula in Descartes space was analyzed and researched, a dynamic programming algorithm was proposed to select a set of optimal solution sequence. And the method of three B spline interpolation for continuous processing was used, and the example verification as well as the Matlab software simulation was carried out. The results indicate that the algorithm can select a set of optimal solution and guarantee the smoothness of robot motion, this can lay a foundation for this type of robots application, trajectory planning and the research of controller, the algorithm and ideas adopted in this paper are also applicable to other types of multi joint robots.
Key words: Dobot robot; kinematics; dynamic programming; three B spline interpolation; Matlab simulation