Modeling And Simulation Of7-DOF Manipulator GAMMA300

In this paper, according to manipulator kinematics and dynamics and trajectory planningproblems, taking7-DOF redundant manipulator GAMMA300with1redundant from ROBAIcompany in the United States as specific research object, analysis and research are done.Based on structural characteristics of7-DOF manipulator GAMMA300, usingDenavit-Hartenberg standard method to establish the Cartesian coordinate system, forwardkinematics equations are established through manipulator homogeneous transformation. In thethird chapter establish joint angle for the kinematics model variables through D-H methodfirst.Inverse matrix are used solving the GAMMA300manipulator inversekinematics.Kinematic and inverse kinematic program is prepared based on Robotics Toolboxsoftware platform.Through simulation the model of kinematics and inverse kinematicscorrectness are verified.In this paper,dynamics model for GAMMA300manipulator are established throughNewton-Euler method and the relationship between joint motion and force ormoment.Because the GAMMA300manipulator does not provide dynamics parameters,so notto its dynamics simulation.With only two degrees of freedom manipulator as anexample,according to Newton-Euler recursive formula verify the dynamic model.To achieve better control and more precise trajectory tracking, kinematics analysis aredone.In trajectory planning, using three polynomial method and five polynomial method toplan manipulator joint motion in the joint space for the GAMMA300manipulator.Linearprogramming and continuous path planing in the Cartesian space,using Robotics Toolbox dothe simulation and analysis the results.This paper provides the forward and inverse kinematics algorithm for the manipulatorssimilar structure of the robot,but also provides a theoretical basis for planing and dynamiccontrol.