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	3D Kinematic Simulation for PA10-7C Robot Arm Based on VRML
	Weimin Shen ; Jason Gu ; Yide Ma
	2007
会议名称	Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2007
英文摘要	In this paper, a graphical, flexible, interactive, and systematic 3D simulation helps facilitate analyzing and previewing kinematics of PA10-7C robotarm in terms of forward kinematics, inverse kinematics, and the Denavit-Hartenberg convention. Modeling and control are of critical importance when the robot arm is used for practical applications. In the paper, the D-H model of PA10-7C robot arm is given first to describe the relationship between two consecutive frames of joints. Based on this D-H model, forward kinematics is calculated efficiently. To describe the relationship between joint angular velocities in the joint space and the end effector's velocities in Cartesian space, Jacobian matrix for PA10-7C robot arm is derived. By Jacobian matrix, inverse kinematics approach is obtained in the paper. VRML-based model of PA10-7C is built in the paper for thesimulation. Finally, simulation results are discussed and the paper is concluded.
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/2072]
专题	深圳先进技术研究院_集成所
推荐引用方式 GB/T 7714	Weimin Shen,Jason Gu,Yide Ma. 3D Kinematic Simulation for PA10-7C Robot Arm Based on VRML[C]. 见:Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2007.

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