Abstract
AbstractResearch on KUKA KR10 industrial robot, the kinematic model is established by D-H parameter method. The forward and the inverse kinematics were analyzed based on the kinematic modal. Monte Carlo method is used to simulate its workspace based on its model and Joint range of motion (JRM). Correctness and rationality of the kinematic model were analyzed using different methods of the manipulator path planning, which provides a reference for the trajectory planning of the industrial robot in the complex environment.KeywordsIndustrial robotsKinemeaticsWorking spaceTrajectory planning
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