Analysis of robotic workspace based on Monte Carlo method and the posture matrix

摘要

With the development of industrial automation, the application of intelligent robots has been widespread increasingly, but it is difficult to accurately describe robotic workspace. Currently workspace analysis methods include analytic method, graphic and numerical methods, but these common methods have many shortages. This paper presents a method of robotic workspace solution, which combines the theory of Monte Carlo method with posture transformation matrix, Monte Carlo method is used to sample by complying uniform distribution for determining each robot joint motion variables. These joint motion variables that are obtained by sampling are applied for terminal posture transformation matrix to get the posture workspace points, which constitute workspace, and MATLAB platform is applied to draw three-dimensional workspace and plane projection map, with the benefits of intuitive, fast, comprehensive, which provides a new way for the evaluation and design of robotic workspace.