Kinematics Modeling and Analysis of MOTOMAN-HP20 Robot

DOI

10.2991/wartia-16.2016.185How to use a DOI?

Keywords

Rotation matrix, forward kinematics, inverse kinematics, robot workspace

Abstract

The improved kinematics method based on the orthogonality of rotation matrix and matrix block is presented for MOTOMAN - HP20 robot to improve the computing speed of the robot kinematics.Firstly, according to the robot structure, the forward kinematics model is established with D-H method. And for the inverse kinematics, the separation method of position and orientation matrix is used to transform complex matrix equation into eight algebraic equations to improve the computing speed. For extraneous roots, the optimal solution is confirmed by selecting the closest one to the current joint angle with the solving order directly, instead of computing all the roots. Finally, the workspace is obstained by the simulation and the kinematics analysis method is proved to be efficient.

Copyright

© 2016, 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  - Jiyou Fei
AU  - Chen Huang
PY  - 2016/05
DA  - 2016/05
TI  - Kinematics Modeling and Analysis of MOTOMAN-HP20 Robot
BT  - Proceedings of the 2016 2nd Workshop on Advanced Research and Technology in Industry Applications
PB  - Atlantis Press
SP  - 874
EP  - 878
SN  - 2352-5401
UR  - https://doi.org/10.2991/wartia-16.2016.185
DO  - 10.2991/wartia-16.2016.185
ID  - Fei2016/05
ER  -