Modeling Method of Autonomous Robot Manipulator Based on D-H Algorithm

• Published in: Mobile information systems 2021-07, Vol.2021, p.1-10
• Main Authors: Cai, Jie, Deng, Jinlian, Zhang, Wei, Zhao, Weisheng
• Format: Article
• Language: English
• Subjects: Algebra; Algorithms; Control theory; Coordinate transformations; Kinematics; Manipulators; Mathematical analysis; Modelling; Productivity; Robot arms; Robot control; Robotics; Robots; Simulation; Systems design
• ISSN: 1574-017X; 1875-905X
• DOI: 10.1155/2021/4448648

With the continuous development of science and technology, robotics is widely used in various fields. In recent years, more and more research studies have been done on the control of autonomous robotic manipulators. How to quickly, accurately, and smoothly grasp objects has always been a difficult point of research. As the robot’s executive mechanism, the robot arm plays an important role in whether the robot can complete a specific task. Therefore, the research on the robot arm is also the main topic in the development of robot technology. The control theory, kinematics, and human-computer interaction of robotic arms are the focus of the research in the field of robotic arms. Based on the above background, the research content of this paper is the research on the modeling method of autonomous robotic manipulator based on D-H algorithm. This paper uses D-H modeling method to model a four-degree-of-freedom robotic arm and gives the forward kinematics equation of the robotic arm. The inverse solution of the manipulator was given by the method and the geometric method, and the joint variable values were calculated. Finally, through experimental simulation, the experimental results show that the inverse solution of the end position of the machine by the geometric method is in the range of 2∼4 mm, and the inverse solution of the end position of the machine by the algebraic method is in the range of 6∼14 mm. It is more accurate to find the inverse solution of the geometrical method of the manipulator than the algebraic method.