6-axis serial robot simulation based on simulationx

Sijun Zhao; Jiayuan Shan; Luyan Bi

doi:10.4028/www.scientific.net/AMM.152-154.1010

6-axis serial robot simulation based on simulationx

Sijun Zhao^*
, Jiayuan Shan
, Luyan Bi

^*Corresponding author for this work

School of Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

This paper presents research and simulation analysis on kinematics and dynamics problem based on the 6-axis serial robot. By means of Denavit-Hartenberg method, the robot kinematics model is established as well as and the derivation process of kinematic and inverse kinematic resolution is described in detail. Furthermore, in software simulationX, robot system model including mechanical sub-system and control sub-system are founded. Additionally, through simulation, different performances of robot are illustrated based on different trajectory planning and control. In this way a theoretical reference is provided for the further study on trajectory planning and controls of 6-axis serial robot.

Original language	English
Title of host publication	Mechanical Engineering and Materials
Subtitle of host publication	ICMEM 2012
Pages	1010-1017
Number of pages	8
DOIs	https://doi.org/10.4028/www.scientific.net/AMM.152-154.1010
Publication status	Published - 2012
Event	2012 International Conference on Mechanical Engineering and Materials, ICMEM 2012 - Melbourne, VIC, Australia Duration: 15 Jan 2012 → 16 Jan 2012

Publication series

Name	Applied Mechanics and Materials
Volume	152-154
ISSN (Print)	1660-9336
ISSN (Electronic)	1662-7482

Conference

Conference	2012 International Conference on Mechanical Engineering and Materials, ICMEM 2012
Country/Territory	Australia
City	Melbourne, VIC
Period	15/01/12 → 16/01/12

Keywords

6-axis serial robot
Denavit-Hartenberg Method
Kinematics solution
SimulationX

Access to Document

10.4028/www.scientific.net/AMM.152-154.1010

Cite this

@inproceedings{2dca36e5d9f84219b9d9589e184d3e6a,

title = "6-axis serial robot simulation based on simulationx",

abstract = "This paper presents research and simulation analysis on kinematics and dynamics problem based on the 6-axis serial robot. By means of Denavit-Hartenberg method, the robot kinematics model is established as well as and the derivation process of kinematic and inverse kinematic resolution is described in detail. Furthermore, in software simulationX, robot system model including mechanical sub-system and control sub-system are founded. Additionally, through simulation, different performances of robot are illustrated based on different trajectory planning and control. In this way a theoretical reference is provided for the further study on trajectory planning and controls of 6-axis serial robot.",

keywords = "6-axis serial robot, Denavit-Hartenberg Method, Kinematics solution, SimulationX",

author = "Sijun Zhao and Jiayuan Shan and Luyan Bi",

year = "2012",

doi = "10.4028/www.scientific.net/AMM.152-154.1010",

language = "English",

isbn = "9783037853528",

series = "Applied Mechanics and Materials",

pages = "1010--1017",

booktitle = "Mechanical Engineering and Materials",

note = "2012 International Conference on Mechanical Engineering and Materials, ICMEM 2012 ; Conference date: 15-01-2012 Through 16-01-2012",

}

Zhao, S, Shan, J & Bi, L 2012, 6-axis serial robot simulation based on simulationx. in Mechanical Engineering and Materials: ICMEM 2012. Applied Mechanics and Materials, vol. 152-154, pp. 1010-1017, 2012 International Conference on Mechanical Engineering and Materials, ICMEM 2012, Melbourne, VIC, Australia, 15/01/12. https://doi.org/10.4028/www.scientific.net/AMM.152-154.1010

TY - GEN

T1 - 6-axis serial robot simulation based on simulationx

AU - Zhao, Sijun

AU - Shan, Jiayuan

AU - Bi, Luyan

PY - 2012

Y1 - 2012

N2 - This paper presents research and simulation analysis on kinematics and dynamics problem based on the 6-axis serial robot. By means of Denavit-Hartenberg method, the robot kinematics model is established as well as and the derivation process of kinematic and inverse kinematic resolution is described in detail. Furthermore, in software simulationX, robot system model including mechanical sub-system and control sub-system are founded. Additionally, through simulation, different performances of robot are illustrated based on different trajectory planning and control. In this way a theoretical reference is provided for the further study on trajectory planning and controls of 6-axis serial robot.

AB - This paper presents research and simulation analysis on kinematics and dynamics problem based on the 6-axis serial robot. By means of Denavit-Hartenberg method, the robot kinematics model is established as well as and the derivation process of kinematic and inverse kinematic resolution is described in detail. Furthermore, in software simulationX, robot system model including mechanical sub-system and control sub-system are founded. Additionally, through simulation, different performances of robot are illustrated based on different trajectory planning and control. In this way a theoretical reference is provided for the further study on trajectory planning and controls of 6-axis serial robot.

KW - 6-axis serial robot

KW - Denavit-Hartenberg Method

KW - Kinematics solution

KW - SimulationX

UR - https://www.scopus.com/pages/publications/84857163530

U2 - 10.4028/www.scientific.net/AMM.152-154.1010

DO - 10.4028/www.scientific.net/AMM.152-154.1010

M3 - Conference contribution

AN - SCOPUS:84857163530

SN - 9783037853528

T3 - Applied Mechanics and Materials

SP - 1010

EP - 1017

BT - Mechanical Engineering and Materials

T2 - 2012 International Conference on Mechanical Engineering and Materials, ICMEM 2012

Y2 - 15 January 2012 through 16 January 2012

ER -

6-axis serial robot simulation based on simulationx

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this