Kinematics Analysis and Simulation of a 4-DOF Manipulator

摘要：

　　Detailed analysis is given to kinematics of a 4-DOF manipulator.Forward and inverse kinematics of the manipulator is performed through Denevit and Hartenberg method.Kinematics equations are obtained,whereupon mathematic formulas are provided for the manipulator control.The effectiveness of kinematics equations is verified by the Robotics Toolbox simulation of the Matlab.

关键词： Kinematics simulation Manipulator MATLAB Robotics Toolbox

作者: Yujie Cui Jianning Hua

作者单位: Department of Automation Engineering, Northeastern University at Qinhuangdao, Qinhuangdao,066004, China

会议类型: 国际会议

会议名称: the 2010 International Conference on Frontiers of Manufacturing and Design Science(第一届制造与设计科学国际会议(ICFMD 2010))

会议地点: 重庆

会议语种:英文

页码: 656-660

在线出版日期: 2010-12-11（万方平台首次上网日期，不代表论文的发表时间）