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6 June 2024 Design of kinematics simulation software for 6R series robot
Wenbin Wu, Zheng Zhang
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Proceedings Volume 13175, International Conference on Computer Network Security and Software Engineering (CNSSE 2024); 131751U (2024) https://doi.org/10.1117/12.3031917
Event: 4th International Conference on Computer Network Security and Software Engineering (CNSSE 2024), 2024, Sanya, China
Abstract
In this paper, a joint angle selection method basedIn this paper, a joint angle selection method based on Conformal Geometric Algebra (CGA) is proposed for the inverse kinematics model of robot. Then a CGA library is developed and used to construct various kinematic models of 6R serial manipulators. The software of spatial 6R serial manipulator kinematic simulation is developed by Qt and OpenGL technology. This software includes the above-mentioned CGA library and kinematic models. It can display the STL format robot model in three dimensions and modify the size of the model and plan its trajectory.
(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.
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Wenbin Wu and Zheng Zhang "Design of kinematics simulation software for 6R series robot", Proc. SPIE 13175, International Conference on Computer Network Security and Software Engineering (CNSSE 2024), 131751U (6 June 2024); https://doi.org/10.1117/12.3031917
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KEYWORDS
Kinematics
Software development
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