Robot Arm Chess Inverse Kinematics Analysis And Simulation Of The Movement

In this paper,the movement of the robot arm along the chessboard was researched.Forward kinematics and inverse kinematics equation about the arm of 5-dof robot were solving by kinematics analysis respectively.Then,the movement about the end of the robot arm along the chessboard was planned,and theoretical analysis and algorithm design was experimental verification.They all indicated good result.The major research contents are:(1)Three-dimensional model of the 5-dof robot arm.Based on the principle of the posture and movement process of robot in playing chess is similar to humanity, the structure of 5-dof robot arm was designed,and the composition of the linkage and the rotation angle of the joint were introduced.Then the three-dimensional model of the robot arm was constructed.(2)Kinematics analysis of robot arm in playing chess.According to the main application of D-H coordinate transformation method,the joint-link coordinates of the robot arm was established,and the link parameters was showed.Forward kinematics equation was solved using the homogeneous transform equations,and the angle equation was also finished under the algebraic method,that is the inverse kinematics equation.In accordance with this,jacobian matrix about the action of the robot arm was solved.(3)Planning the movement of about the end of the robot arm along the chessboard.In accordance with the process of playing chess with humanoid posture, the movement from point to another along the Bezier curve or B-spline curve was designed in this study,and four control points of these two curves were set out.As the B-spline curve was used,it is need to solve the two endpoint equations of the B-spline curve control point,and two path methods were given.(4)System simulation.Based on the kinematics analysis and path planning of the robot arm,three-dimensional model and motion path were simulated under the solving equations using the platform for VC++6.0 and OpenGL interfaces.Then the three-dimensional model about the action of the robot arm along the point on the Bezier curve and the B-spline curve.The experimental results show that the design parameters were rationality and the algorithm design was feasibility.