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Kinematics and singularity analysis of a 6DOF manipulator
Published:2018-12-28 author:YUAN Yuan Browse: 1933 Check PDF documents
                                                Kinematics and singularity analysis of a 6DOF manipulator
                                                                                    YUAN Yuan
             (School of Aviation Maintenance Engineering, Xian Aeronautical Polytechnic Institute, Xian 710089, China)




Abstract: Aiming at the motion of the 6DOF 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 DH 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
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