Modeling and Workspace Analysis of Six Degree of Freedom Manipulator

Abstract

Designed a 6-DOF manipulator according to this requirement. According to D-H method, the coordinate system was established for each joint of manipulator and the connecting rod parameters. Set up a kinematic model of the manipulator. Then the attitude and position of the end effector were deduced by homogeneous transformation, and the accuracy of the kinematics equation was verified by simulation and mathematical calculation. After that, according to the mapping of joint space to work space, Monte Carlo method was used to analyze the workspace of the manipulator. Finally, the 3D map of workspace was drawn in MATLAB. It provides a reference for follow-up robotic trajectory planning, motion control and parameter optimization.