Model and simulation of the Mitsubishi RV-M1 robot using MATLAB

Abstract

In this paper, the forward and inverse kinematics of a robot manipulator named RV-M1 are analyzed. The forward kinematic model is based on the DH parameters, and the inverse one is derived in closed form. Then, the interactive simulation system is established using MATLAB software which is one of the most used platforms for the modeling and simulation of robot systems. Finally, the simulation results verify the effectiveness of the kinematics equations.