Kinematic, dynamic and accuracy reliablity analysis of 6 degree-of-freedom robotic arm | Zendy

Zhentao Xie | Zendy

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Kinematic, dynamic and accuracy reliablity analysis of 6 degree-of-freedom robotic arm

Author(s) -

Zhentao Xie

Publication year - 2013

Publication title -

submitted by the university of missouri--columbia graduate school

Language(s) - English

Resource type - Dissertations/theses

DOI - 10.32469/10355/40217

Subject(s) - kinematics , jacobian matrix and determinant , mathematics , robot kinematics , transformation matrix , control theory (sociology) , kinematic diagram , robotic arm , computer science , robot , kinematic chain , artificial intelligence , classical mechanics , physics , control (management) , mobile robot

In this article, first of all, it describes the procedure for kinematic and dynamic analysis of a 6degrees-of-freedom robotic arm. In kinematic analysis, it includes kinematics and differential kinematics. In which, the Denavit-Hartenberg Parameters, Homogeneous Transformation Matrix, Direct Kinematic Function and Geometric Jacobian are derived. In the dynamic analysis, the Lagrange Formulation is derived and the equations of motion have been formulated in joint space using Lagrangian equation. Then, it presents the accuracy reliability analysis based on kinematic parameters.

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