Research On Modeling And Simulation Based On6-DOF Robot

In order to make the robot play its full role in flexible manufacturing cell, this paper study of the simulation and modeling of the industrial robot based on the basic theoretical knowledge of robot. Besides, this paper take the six degree of freedom robot of laboratory as research object and have a research on the theories of robotThis paper have a research on the following aspects:1. According to the theory of transformation matrix and the analysis of structure parameters of robot, we create the robot model based on D-H parameters and get the forward kinematics functions and inverse kinematics functions, in addition, the forward kinematics functions and inverse kinematics functions can be verified by means of the3D software.2. Besides, I also have a research on trajectory planning based on kinematics model of robot. The trajectory planning of space and cartesian are introduced respectively, in addition, the models are created based on the trajectory planning of space and cartesian and introduced respectively., simulation analysis is carried out based on the trajectory planning of space and the trajectory planning cartesian. From the results, the validity the model of trajectory planning is verified. Meanwhile, I can get the curves of kinematics, which include angle curve, angular velocity curve and angular acceleration curve. According to the simulation results we can see this trajectory planning can effectively avoid the vibration of robot and satisfy the stability of the robot when during the work. Besides, it can also make robot arrival the given position accurately.3. On the other hand, this paper study the dynamics of robot based on kinematics model and trajectory planning. In addition, according to Newton-Euler recursive algorithm, the model of dynamics can be gotten. Besides, I also make an analysis of the dynamics of robot and get the characteristics curve by using the MATLAB. In order to ensure the accuracy of the results, the centrifugal force and coriolis forces are also considered when making the analysis. In this way, it can not only as the basis of optimal control, but also it can provide reference for the structure design of the robot.4. The relationship between the modeling of VRML and the program of MATLAB will be established by using the GUI based on the MATLAB. The3D simulation platform will be created, which integrated the kinematics model and control panel based on GUI. The platform is made up of robot’s control panel and three-dimensional visualization window, the real-time interactive simulation can be realized through the control panel. In addition, the results of the forward kinematics, inverse kinematics and trajectory planning can be gotten by using MATLAB, thus, the three-dimensional visualization window can real-time display the simulation statues.