Analysis And Simulation Of 6-DOF Serial Robot

The traditional design and analysis of serial robot were aimed at one type of robot. Because of the numerous space structures of serial robots, if we try to analyze every type of these robots, there are so much calculation works to do and it may have some calculating error, which can not satisfy the design cycle. By means of Matlab software and integrating the design and computation of the robot, we can solve these problems.In order to direct-viewing reflect the robot’s orientation and be convenient to understand, this paper introduces homogeneous transform theory to research serial robot. Based on the D-H coordinate and homogeneous transform, the forward kinematics of serial robot is analyzed, and using the Moore-pseudo inverse of Jacob matrix, the inverse kinematics of serial robot is solved in this paper. Based on the Newton-Euler equation, the serial robot dynamics is deduced when considering friction, and using the polynomial interpolation and quaternion , the trajectory of serial robot is deduced in this paper.Based on the Matlab software, this paper compiles each theory above and integrates the library function with Matlab GUI, which finally forms a platform of 6 DOF serial robot analysis and simulation. The platform has two mainly functions: one is analysis function, the other is simulation function. The analysis function contains: (1) calculating the forward kinematics of 6 DOF serial robot, Jacob matrix of arbitrary position of 6 DOF serial robot, the dexterity of the 6 DOF serial robot and inverse kinematics of 6 DOF serial robot. (2) Calculating forward dynamics and inverse dynamics of 6 DOF serial robot when considering friction and external force or not, and drawing the curve of the joint force, displacement, velocity, and accelerate. (3) Calculating the joint space and Certestian space trajectory of 6 DOF serial robot, and drawing the curve of the trajectory. The simulation function contain: (1) it can create the graphic 6 DOF serial robot by inputting the D-H parameter, can drive the graphic robot by means of changing the joint variable. (2) It can simulate the robot motion by means of robot trajectory and giving the motion track and curve of the robot joint variable. (3) It can drive the robot according to the giving track by means of the PD controller and draw the comparative curve of the track of controlling motion and giving track.