Title: Kinematic modeling and validation of a 6-DOF industrial robot
Abstract: The kinematic model of industrial robots is the transformation between the working space and the space of joints.After analysis of the kinematic methods in the area of linkage mechanisms, the kinematic model was established according to DH method for a 6-DOF industrial robot.To verify the kinematic model, the graphic simulation of the industrial robot was established with Robotics Toolbox in Matlab.The calculation result of the kinematic model and the simulation are consistent.Experiments were carried out to verify the kinematic model, which shows that the kinematic model is correct.