Simulation Analysis of Six-axis Manipulator

Abstract

The D-H parameter method is used to model the six-axis manipulator. Based on this model, the forward and inverse kinematics equations of the manipulator can be derived, so that the relationship of manipulator joint angle and the pose of manipulator can be obtained. Using the fifth-order polynomial interpolation method realizes the manipulator trajectory planning. In this paper, using the free Robotics Toolbox to simulate manipulator, the results show that the simulation of the manipulator is accurate and intuitive, which can provide theoretical basis and reference basis for the actual design and motion control of the manipulator.