Research on Motion Planning and Optimization of Six Degree of Freedom Robotic Arm Based on Denavit Hartenberg
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.
Authors
- Boqian Liu
- Chengguo Du
- Kugan Huang
- Yan Wang (ORCID: https://orcid.org/0000-0003-1932-7882)
- Guan Yang
- Yinlu Han (ORCID: https://orcid.org/0009-0008-3125-3795)
- Yueh-Bih Tang (ORCID: https://orcid.org/0009-0007-6785-9644)
Institutions
- Guangxi Transportation Research Institute (CN)
Publication Details
- Published
- 2024-12-06
- DOI
- https://doi.org/10.1145/3727993.3728170
- Primary Topic
- Medical Research and Treatments
- Type
- article
- Field-Weighted Citation Impact
- 0.00