Research On Motion Control And Simulation Of A Certain Type Of Six-DOF Manipulator

With the advancement of technology, manipulators’ researches have becomeimportant aspects in the high-tech fields.Manipulators have been widely applied in variousindustrial fields and related researches have been more in-depth development. With themanipulators widely used in various fields, there have been more demands in functionality,real-time, stability, mechanical flexibility and lightweight body. It also provides for futureresearch in new directions.In this paper,6-DOF manipulator was been as the prototype and related fields werestudied. First, a certain type of6-DOF manipulator was been as researchful object andmathematical model was established using the D-H method and related theory and methodsfor solving of kinematics and inverse kinematics were derived and analyzed. Applicationlayer program was written in VC++6.0to do differernt kinds of controls. Second, dynamicsand inverse dynamics model of the6-DOF manipulator was established to analyze andsolve. Newton-Euler equation method was used to solve velocity, acceleration, inertialforces and moments of inertia, joint driving force and driving torque between adjacentjoints. And Matlab was used to do simulation analysis for the relevant amount of inversekinematics. Finally,6-DOF manipulator trajectory was analyzed and simulated. Cubicpolynomial and quintic polynomial trajectory planning methods were used to establishmodel for the6-DOF manipulator. Matlab was used to simulate and analyze on the angle,angular velocity, angular acceleration of each joint under two trajectory planning methods.And manipulator trajectory of cubic polynomial and quintic polynomial， quinticpolynomial under different simulation time and actual trajectory were also simulated. Andthe simulation results under these trajectory planning methods were compared andanalyzed.