3D Kinematic Simulation for PA10-7C Robot Arm Based on VRML

摘要：

In this paper,a graphical,.exible,interactive,and systematic 3D simulation helps facilitate analyzing and pre- viewing kinematics of PA10-7C robot arm in terms of forward kinematics,inverse kinematics,and the Denavit-Hartenberg con- vention.Modeling and control are of critical importance when the robot arm is used for practical applications.In the paper,the D-H model of PA10-7C robot arm is given .rst to describe the relationship between two consecutive frames of joints.Based on this D-H model,forward kinematics is calculated ef .ciently.To describe the relationship between joint angular velocities in the joint space and the end effector s velocities in Cartesian space, Jacobian matrix for PA10-7C robot arm is derived.By Jacobian matrix,inverse kinematics approach is obtained in the paper. VRML-based model of PA10-7C is built in the paper for the simulation.Finally,simulation results are discussed and the paper is concluded.

关键词： Kinematic control D-H convention kinematics Jacobian matrix VRML inverse kinematics

作者: Weimin Shen Jason Gu Yide Ma

作者单位: Electrical and Computer Engineering Dalhousie University Halifax, Nova Scotia, Canada B3J 1Z1 Shenzhen Institute of Advanced Technology Shandong University School of Information Science and Engineering Lanzhou University, Lanzhou, China

会议类型: 国际会议

会议名称: 2007 IEEE International Conference on Automation and Lofistics

会议地点: 山东济南

会议语种:英文

在线出版日期: 2007-08-18（万方平台首次上网日期，不代表论文的发表时间）