Research On Kinematics Three-Dimensional Graphics Simulation Of Robot With Six Degree Of Freedom

Robot is a mechatronic integration of complex dynamic systems which has been applied in various fields such as in manufacture,agriculture,medical treatment and military.One of the most widely used robot families in industry have been serial robots with six degrees of freedom(6-DOF).Because of its structure it can motion freely in its workspace to complete tasks such as flexible manufacture,assembly,automation operations.In order to understand more about robot motion situation and dynamic characteristics,a popular approach has been the computer simulation based research which can reveal the reasonable movement tracks and effective control algorithm to support the robot design,manufacture and operation.The main work of this dissertation is the study of robot kinematics,with three-dimensional(3D) entity graphics simulation model to demonstrate the forward kinematics process and reversed kinematics process which could very possibly provide useful reference for the following studies.6-DOF Motoman-HP6(Motoman robot) has been studied in this dissertation.With Denavit-Hartenberg(D-H) coordinate transformation law,the linkage and joint parameters of the Motoman robot kinematics model have been established.After that the forward kinematics model and the reversed kinematics model have been derivated. Meanwhile,the kinematics model of robot is validated in Matlab.Then as the theoretical foundation of Motoman robot kinematics model,using 3D software 3dsMax and Matlab cooperate perfectly in the Windows platform to perform Motoman robot kinematics 3D graphics simulation which will show the end effector's movement of robot.Such as according to joint movement parameters and then compute the end effector's position and pose.Or even given some position and pose and then could get the related parameters of the joint motion.In the end,the summary of the contents is made as well as the following work is discussed in this dissertation.In summary,3D graphics simulation of Motoman robot kinematics is designed to show robot motion situations more clearly with the help of 3D visualization technology. So the simulation will provide a solid basis for the following research on the robot path planning and collision avoidance.