RV-2AJ五轴机器人机械手正运动学分析

2014 Electrical Power, Electronics, Communicatons, Control and Informatics Seminar (EECCIS) Pub Date : 2014-08-01 DOI:10.1109/EECCIS.2014.7003725

M. A. Ayob, W. Zakaria, J. Jalani

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引用次数: 7

摘要

本文对具有五自由度旋转关节的三菱梅尔法RV-2AJ工业机器人进行了正运动学分析。运动学问题被定义为从关节空间到笛卡尔空间的变换，反之亦然。给出了用Denavit-Hartenberg (D-H)表示法描述机器人末端执行器位置和姿态的解析解。为了验证所建立的运动学方程，进行了几个实验室实验。在本研究中，与实际机器人相比，开发的运动学解的准确性为98.68%。这些发现对于建立动态仿真模型来评估位置和力控制算法具有重要意义。

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Forward kinematics analysis of a 5-axis RV-2AJ robot manipulator

This paper presents the forward kinematics analysis for the Mitsubishi Melfa RV-2AJ industrial robot with a five degree of freedom (DOF) revolute joints. The kinematics problem is defined as the transformation from the joint space to the Cartesian space and vice versa. An analytical solution using Denavit-Hartenberg (D-H) representation to describe the position and orientation of the robot end-effector is presented. Several lab experiments to verify the developed kinematics equations have been conducted. In this study, the developed kinematics solutions were found to be accurate (98.68%) compared to the real robot. These findings have important implication for developing dynamic simulation model that can be used to evaluate position and force control algorithm.

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来源期刊

2014 Electrical Power, Electronics, Communicatons, Control and Informatics Seminar (EECCIS)

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