Abstract
This paper takes a 6-DOF robot as research object to deal with the related problems such as kinematics and PTP motion control of the robot. A comprehensive consideration is also given in the research in terms of establishment of robot coordinate system, the coordinate transformation of D-H parameter, as well as the inverse problem solving of kinematics. Using Matlab tools to implement both the forward and inverse kinematic solutions for robot, the research performed modeling of the robot and PTP motion control simulation and achieved the accurate control for robot end effecter. In the research the method of parabola transition linear interpolation is applied to realize PTP motion control, resulting in greater smoothness of the joint’s trajectory and convenience for speed and acceleration implementation for engineering practice.
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© 2012 Springer-Verlag Berlin Heidelberg
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Zhao, Z., Sun, S. (2012). 6-DOF Robot Kinematics Analysis and PTP Motion Control Study Based on Matlab. In: Jin, D., Lin, S. (eds) Advances in Mechanical and Electronic Engineering. Lecture Notes in Electrical Engineering, vol 176. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-31507-7_5
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DOI: https://doi.org/10.1007/978-3-642-31507-7_5
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-31506-0
Online ISBN: 978-3-642-31507-7
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