Kinematics Simulation of 4 DOF Manipulator

DOI

10.2991/msmee-17.2017.81How to use a DOI?

Keywords

4-DOF manipulator, Forward and Inverse kinematic, Robotic Toolbox, trajectory planning.

Abstract

For a 4-DOF manipulator, The Kinematic Model of Manipulator is built by the method of D-H, Analysis the solution of forward and inverse kinematics of manipulator, The method that algebraic method combined with the geometric method is used to solve forward and inverse kinematics. MATLAB software is used to simulate and get the working space diagram of the manipulator. The Forward and Inverse kinematics and the trajectory planning are simulated by using Robotics Toolbox and this algorithm is proved to be feasible and accurate, which provides the theoretical basis for the subsequent analysis and research of manipulator.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Guangbing Bao
AU  - Shizhao Liu
AU  - Hong Zhao
PY  - 2017/05
DA  - 2017/05
TI  - Kinematics Simulation of 4 DOF Manipulator
BT  - Proceedings of the 2017 2nd International Conference on Materials Science, Machinery and Energy Engineering (MSMEE 2017)
PB  - Atlantis Press
SP  - 400
EP  - 408
SN  - 2352-5401
UR  - https://doi.org/10.2991/msmee-17.2017.81
DO  - 10.2991/msmee-17.2017.81
ID  - Bao2017/05
ER  -