The study on six degrees of freedom manipulator control antenna based on D-H algorithm

The typical D-H method was applied in robotics to set up the kinematics model of five-axis machine tools,and the positive and inverse kinematics problem was discussed.

The author derived kinematic equations of the Linemanrobot using conventional solutions and D-H method.

Utilizing the D-H method to carry out the positive solution on the position of planar five-bar robot and by applying the analytical method to carry out a discussion on its positional accuracy.

This article uses the D-H method to solve the kinematics equation that have seven freedom degrees but originally have no unique solution robot systems.

The Kinematics Analysis of An Original Inspection Robot Based on D-H;

Confirm the parameters of Manipulators through D-H theory,then we can gain the conversion matrix,target matrix and kinematics equation.

Based on the equipment about 5 DOF robot manipulator,with the D-H representation,the paper deals with the relations between the joint-variable space and the position and orientation of the end-effector of a robot arm,which is the inverse kinematics problem.