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

^*此作品的通讯作者

空天科学与技术学院

Beijing Institute of Technology
Harbin Institute of Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

1 引用（Scopus）

摘要

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.

源语言	英语
主期刊名	Mechanical Engineering and Materials
主期刊副标题	ICMEM 2012
页	1010-1017
页数	8
DOI	https://doi.org/10.4028/www.scientific.net/AMM.152-154.1010
出版状态	已出版 - 2012
活动	2012 International Conference on Mechanical Engineering and Materials, ICMEM 2012 - Melbourne, VIC, 澳大利亚期限: 15 1月 2012 → 16 1月 2012

出版系列

姓名	Applied Mechanics and Materials
卷	152-154
ISSN（印刷版）	1660-9336
ISSN（电子版）	1662-7482

会议

会议	2012 International Conference on Mechanical Engineering and Materials, ICMEM 2012
国家/地区	澳大利亚
市	Melbourne, VIC
时期	15/01/12 → 16/01/12

访问文件

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

其它文件与链接

链接到 Scopus 的出版物

引用此

@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. 在 Mechanical Engineering and Materials: ICMEM 2012. Applied Mechanics and Materials, 卷 152-154, 页码 1010-1017, 2012 International Conference on Mechanical Engineering and Materials, ICMEM 2012, Melbourne, VIC, 澳大利亚, 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

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