Kinematics analysis and simulation for 6-rotation joint spraying robot

Using the D-H method to build the Kinematics Model of the 6-Rotation joint spraying robot,and the Arm and Wrist Separation Method is adopted to obtain the analytic solutions of the forward and inverse kinematics of the spraying robot.Then the inverse kinematics and workspace are simulated with the Robotics Toolbox.The simulation not only proved the correctness of the forward and inverse kinematics algorithm but also obtained the workspace of the spraying robot.Using this method can avoid numerous Matrix inverse operation and simplify calculated expressions,which simplified the control systems frame for carrying out real-time control and also built the foundation for the robot dynamics analysis,workspace optimization,trajectory control and structure optimal design.