Kinematics Modeling and Analysis of MOTOMAN-HP20 Robot

Jiyou Fei, Chen Huang
2016 Proceedings of the 2016 2nd Workshop on Advanced Research and Technology in Industry Applications   unpublished
The improved kinematics method based on the orthogonality of rotation matrix and matrix block is presented for MOTOMAN -HP20 robot to improve the computing speed of the robot kinematics.Firstly, according to the robot structure, the forward kinematics model is established with D-H method. And for the inverse kinematics, the separation method of position and orientation matrix is used to transform complex matrix equation into eight algebraic equations to improve the computing speed. For
more » ... speed. For extraneous roots, the optimal solution is confirmed by selecting the closest one to the current joint angle with the solving order directly, instead of computing all the roots. Finally, the workspace is obstained by the simulation and the kinematics analysis method is proved to be efficient.
doi:10.2991/wartia-16.2016.185 fatcat:3rn4fdtidjbcfpbgs55ctjn5ly