Research and Simulation of the Kinematics of Dual-arm 6R Service Robot

Research and Simulation of the Kinematics of Dual-arm 6R Service Robot

Aiming at the inverse solution problem of the kinematics of dual-arm service robot,a inverse kinematics solution is proposed according to its configuration characteristics. Firstly,according to the structure characteristics of the manipulator,the forward kinematics model of dual-arm is got by using...

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Bibliographic Details
Main Authors: Li Xianhua, Sun Qing, Zhang Leigang, Zhang Jun
Format: Article
Language:zho
Published: Editorial Office of Journal of Mechanical Transmission 2018-01-01
Series:Jixie chuandong
Subjects:
Dual-arm
Inverse kinematics
Geometrical method
Coordinate projection method
Simulation verification
Online Access:http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.05.026
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