Kinematics analysis and simulation of a robotic arm using MATLAB

摘要

In order to enhance the study of the kinematics of any robot arm, parameter design is directed according to certain necessities for the robot, and its forward and inverse kinematics are discussed. The DH convention Method is used to form the kinematical equation of the resultant structure. In addition, the Robotics equations are modeled in MATLAB to create a 3D visual simulation of the robot arm to show the result of the trajectory planning algorithms. The simulation has detected the movement of each joint of the robot arm, and tested the parameters, thus accomplishing the predetermined goal which is drawing a sine wave on a writing board.