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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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YUAN Yuan
(School of Aviation Maintenance Engineering, Xian Aeronautical Polytechnic Institute, Xian 710089, China)
Abstract: Aiming at the motion of the 6DOF manipulator, the kinematic mathematical model of the manipulator, the end position error, and the singularity of the robot arm were studied. For the kinematics model problem of the manipulator, the positive and negative kinematics model of the manipulator was established based on the DH method, and the simulation program was built in Matlab software to verify the kinematics models. Based on the kinematics model, the sensitivity direction of the end position error of the manipulator was simulated and analyzed by giving a joint angle error. The Jacobian matrix was calculated and the singularity of the manipulator in the working space was analyzed. The results indicate that the error between the kinematic model result and the actual result of manipulator is small, and the kinematics models are right, and there are two extreme positions of the robot arm.
Key words: manipulator; kinematics model; error analysis; Jacobian; singularity