Solving Method of Workspace for 6 DOF Robot Based on Vision

Xiao-man CAO, Xiang-jun ZOU, Yu-da MO, Shao-feng LUO

Abstract


In order to get the solution of the robot workspace, a method that based on the SimMechanics model in Matlab and the Monte-Carlo method was adopted to solve the robot workspace．Matlab/Simulink software was used to realize movement simulation of robot arms and got a compact workspace. Compared to traditional Monte-Carlo method, this method had the advantages of better speed in solving workspace，strong visibility and avoiding complicated mathematical operations, which provided an important basis for robot's obstacle avoidance planning.

Keywords


Workspace, 6 DOF robot, Monte-Carlo method, Simulation.


DOI
10.12783/dtcse/mcsse2016/10999

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