Forward and Inverse Kinematics Modeling and Simulation of Six-axis Joint Robot Arm Based on Exponential Product Method

摘要

As one of the most critical research contents in robotics, forward and inverse kinematics has an important influence on the system control and off-line programming accuracy of robot arm. And it is also the foundation of studying the motion simulation of robot arm. In this paper, the kinematic characteristics of six-axis joint robot arm are considered. As well, the forward and inverse kinematic parameters are derived based on exponential product method. The simulation model of robot arm is established by using MATLAB/Simulink, and the Graphical User Interface (GUI) operation Interface is built to simulate and control the robot arm. The simulation platform has friendly interface and simple operation. It can control the forward and inverse kinematics of robot arm and display the current posture of the robot arm in real time. By comparing the theoretical data and simulation results, the correctness of robot arm model and the accuracy of forward and inverse kinematics formula are verified.