Kinematic Analysis and Simulation of a 6-DOF Industrial Manipulator

Umar Abubakar, Wang Zhongmin, Gao Ying

Abstract: Firstly, model of a 6-DOF articulate manipulator was set up in MATLAB, then kinematic analysis and simulation of this manipulator was studied. Secondly, it was found to acquire the desired configuration within the given time limits with irregular motion pattern along the end-effector path. Simulation results showed that the manipulator was capable of light material handling and transfer in an assembly line at low speeds.

Keywords: manipulator, modeling, kinematic analysis, simulation