Forward Kinematics and Workspace Analysis of a 6-DOF Dual-arm Operating System Based on the Screw Theory
The trajectory planning and control of the manipulator are based on forward kinematics analysis. At present, the analytical method mainly used is the D-H parameter method. This study proposes a screw theory method which is faster and simpler in terms of calculation than the D-H method. The kinematic...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2023-02-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.02.012 |
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| _version_ | 1841547044137730048 |
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| author | Zheng Xuekai Liu Fang Yang Yan Wei Wenqing |
| author_facet | Zheng Xuekai Liu Fang Yang Yan Wei Wenqing |
| author_sort | Zheng Xuekai |
| collection | DOAJ |
| description | The trajectory planning and control of the manipulator are based on forward kinematics analysis. At present, the analytical method mainly used is the D-H parameter method. This study proposes a screw theory method which is faster and simpler in terms of calculation than the D-H method. The kinematics modeling and forward kinematics equation of dual-arm operating system are established by product of exponentials formula. Simpack software is used to simulate and analyze the dual-arm operating system. The correctness of the forward kinematics model established by screw theory is verified by comparing the simulation results with the results obtained by the forward kinematics equation. Matlab software is used to analyze the workspace, and the workspace of the dual-arm operating system is obtained by comparing the workspace cloud map. |
| format | Article |
| id | doaj-art-96f2a81f222b49a8afa8bde25896d038 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2023-02-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-96f2a81f222b49a8afa8bde25896d0382025-01-10T14:56:59ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392023-02-01479310034891904Forward Kinematics and Workspace Analysis of a 6-DOF Dual-arm Operating System Based on the Screw TheoryZheng XuekaiLiu FangYang YanWei WenqingThe trajectory planning and control of the manipulator are based on forward kinematics analysis. At present, the analytical method mainly used is the D-H parameter method. This study proposes a screw theory method which is faster and simpler in terms of calculation than the D-H method. The kinematics modeling and forward kinematics equation of dual-arm operating system are established by product of exponentials formula. Simpack software is used to simulate and analyze the dual-arm operating system. The correctness of the forward kinematics model established by screw theory is verified by comparing the simulation results with the results obtained by the forward kinematics equation. Matlab software is used to analyze the workspace, and the workspace of the dual-arm operating system is obtained by comparing the workspace cloud map.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.02.012Dual-arm operating systemScrew theoryProduct of exponentials formulaForward kinematicsWorkspace |
| spellingShingle | Zheng Xuekai Liu Fang Yang Yan Wei Wenqing Forward Kinematics and Workspace Analysis of a 6-DOF Dual-arm Operating System Based on the Screw Theory Jixie chuandong Dual-arm operating system Screw theory Product of exponentials formula Forward kinematics Workspace |
| title | Forward Kinematics and Workspace Analysis of a 6-DOF Dual-arm Operating System Based on the Screw Theory |
| title_full | Forward Kinematics and Workspace Analysis of a 6-DOF Dual-arm Operating System Based on the Screw Theory |
| title_fullStr | Forward Kinematics and Workspace Analysis of a 6-DOF Dual-arm Operating System Based on the Screw Theory |
| title_full_unstemmed | Forward Kinematics and Workspace Analysis of a 6-DOF Dual-arm Operating System Based on the Screw Theory |
| title_short | Forward Kinematics and Workspace Analysis of a 6-DOF Dual-arm Operating System Based on the Screw Theory |
| title_sort | forward kinematics and workspace analysis of a 6 dof dual arm operating system based on the screw theory |
| topic | Dual-arm operating system Screw theory Product of exponentials formula Forward kinematics Workspace |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.02.012 |
| work_keys_str_mv | AT zhengxuekai forwardkinematicsandworkspaceanalysisofa6dofdualarmoperatingsystembasedonthescrewtheory AT liufang forwardkinematicsandworkspaceanalysisofa6dofdualarmoperatingsystembasedonthescrewtheory AT yangyan forwardkinematicsandworkspaceanalysisofa6dofdualarmoperatingsystembasedonthescrewtheory AT weiwenqing forwardkinematicsandworkspaceanalysisofa6dofdualarmoperatingsystembasedonthescrewtheory |