Design of kinematics simulation software for 6R series robot

Abstract

In this paper, a joint angle selection method basedIn this paper, a joint angle selection method based on Conformal Geometric Algebra (CGA) is proposed for the inverse kinematics model of robot. Then a CGA library is developed and used to construct various kinematic models of 6R serial manipulators. The software of spatial 6R serial manipulator kinematic simulation is developed by Qt and OpenGL technology. This software includes the above-mentioned CGA library and kinematic models. It can display the STL format robot model in three dimensions and modify the size of the model and plan its trajectory.