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Research on Motion Planning and Optimization of Six Degree of Freedom Robotic Arm Based on Denavit Hartenberg

Year: 2024

Type: conference-paper

Abstract: This thesis addresses the motion planning and optimisation problem of a six-degree-of-freedom robotic arm. Firstly, the kinematic model of the robot arm is established based on Denavit-Hartenberg parameters, and the zero position state sketch is drawn. Through forward kinematics and inverse kinematics calculations, the precise control of the end-effector position is achieved.

Source: International Conference on Computational Modeling, Simulation and Data Analysis (CMSDA)

DOI: 10.1145/3727993.3728170

Authors: Kugan Huang, Yuanfei Tang, Yan Wang, Guan Yang, Changyan Du, Boqian Liu, Yiyong Han

Institution: Nanning University

Language: English

Topic: Robotic Mechanisms and Dynamics

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

OpenAlex ID: W4410739814

FWCI:

Cites: 4

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Related to: 10