Abstract
Kinematic model is important for the motion control of industrial robots. In this paper, the modified Denavit-Hatenberg (D-H) method is used to construct the kinematic model for industrial robots. Firstly, the structural characteristics and parameters of each link for an EFORT industrial robot are analyzed and a kinematic equation based on the modified D-H method is obtained. The strong ability of MATLAB in calculating matrix is utilized during the process of building the kinematic model. In addition, the simulation is carried out by means of the Robotics Toolbox, which is also a module of MATLAB. Furthermore, six groups of joint angles are randomly chosen to verify the kinematic model. Finally, the trajectory planning simulation is conducted, and it shows that the movement of the robot is stable.
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