Abstract
The development of industrial technology makes the application field of robot become wider. Joint type robot research and development and trajectory planning research have got more concerns. Joint type industrial robots are famous for their characteristics of big scope of work, flexible motion, and compact structure and so on, which are popular with robot's designers and users. This paper mainly introduces the mechanical structure design, kinematics analysis and control system design of series joint type robots, and makes detailed analysis and design with the example of five degrees of freedom robot joints in mechanical structure, kinematics analysis, the structure of hardware driver, software control system, servo communication protocols and so on.
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