Abstract

AbstractTaking the 6-DOF manipulator as the research object, the coordinate system of the manipulator link is established by the D-H parameter method, and the forward and inverse kinematics equations of the manipulator are derived through the ma-trix transformation relationship between the link coordinate systems. The end-of-arm controller performs motion trajectory planning. In Matlab, Robotic toolbox is used to model and analyze the forward and inverse kinematics of the manipulator, and the improved RRT algorithm trajectory and the manipulator model are used for joint motion simulation. The simulation results prove the reliability of the ma-nipulator model and the effectiveness of the improved RRT algorithm. Feasibility.Keywords6-DOF manipulatorTrajectory planningForward and inverse kinematicsRRT algorithm

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