Abstract
A 2-DOF manipulator is modeled in PROE. In MATLAB, inverse kinematics is solved by geometric method. The desired trajectory, angular velocity and angular acceleration of each joint are obtained by the linear interpolation of parabola transition to complete the kinematics planning of the manipulator. The velocity of the end-point and the kinematics analysis are got by Newton-Euler method. In PROE, the expected trajectory of the end point is got by the simulation of the position planning. Kinematics simulation on the model is made in ADAMS. The simulation results are consistent with theoretical calculations to verify the correctness of the theory computing, which can provide an effective basis for the control of the manipulator.
Publisher
Trans Tech Publications, Ltd.
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