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23 April 2020 Kinematics analysis and simulation of a smart eight-joint tandem robot
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Abstract
Kinematics analysis of multi-joint robot play an important part in robotics research. Because of the non-uniqueness of its inverse solution, robot kinematics with more than 6 freedom degrees is still the focuses of the research. For the inverse kinematics problem, some optimization methods ,like neural network , are mostly used.These methods have many problems such as heavy calculation and low accuracy. In this paper, a new inverse kinematics algorithm based on geometric and analytical methods is proposed and verified by simulation. In this paper, the D-H model is established according to the robot structure and the structure parameters of the robot are determined. The positive and negative solutions of the robot are analyzed and calculated. Finally, MATLAB is used as the simulation tool to verify the correctness and accuracy of the results. It provides a new idea for the improvement, design and application of the robot with more than 6 axises.
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Ziyang Liu, Dalin Xu, Hongwei Sun, and Liangchuang Liao "Kinematics analysis and simulation of a smart eight-joint tandem robot", Proc. SPIE 11379, Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2020, 1137927 (23 April 2020); https://doi.org/10.1117/12.2558437
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