Development and analysis of 5-DOF manipulator kinematics

摘要

This paper takes 5-DOF manipulator as an example to introduce hardware architecture and motor controller. Then, robotic kinematics is derived and analyzed. The kinematics analysis of robotic arm is to understand the relationship among all links for position, velocity, and acceleration during motioning. It is called forward kinematics when using the distance of translation and the angle of rotation between each joint to derive the position of end point. The kinematics calculation started with the determination of conversion torque through the description of parameters at each of the axles based on the D-H linkage parameter charts, followed by a series of deduction to obtain the forward kinematics of the robotic arm. The inverse kinematics relied on the equations obtained from the forward kinematics in order to derive the solution for inverse kinematics. Finally, the combination of equations, programs and hardware resulted in the generation and control of movement paths for the robotic arms.