Abstract: Taking a linkage-type robotic am as the research object and based on its actual parameters, an improved D-H parameter method was adopted to establish the mathematical model of the robotic arm. The forward and inverse kinematic equations of the mechanical arm were analyzed and derived, Using the Robotics Toolbox in MATLAB, the robotic arm was modeled and analyzed to verify the forward and inverse kinematic solutionsn. Trajectory planning in the joint space was performed to analyze the motion characteristics of the robotic arm. The workspace of the robotic am was obtained using the Monte Carlo method. Finally, the manipulability ellipsoid was constructed through the Jacobian matrix to provide a theoretical basis for the control of the robotic arm.
缑燕飞, 甘树坤, 吕雪飞. 基于MATLAB的连杆式机械臂运动学分析与验证[J]. 吉林化工学院学报, 2026, 43(1): 74-80.
GOU Yanfei, GAN Shukun, LU Xuefei. Robotic Arm Based on MATLAB Kinematic Analysis and Verification of a Linkage-Type. Journal of Jilin Institute of Chemical Technology, 2026, 43(1): 74-80.
