Abstract
Human-machine collaboration is becoming increasingly more necessary, and so collaborative robot applications are also in high demand. We selected a UR10 robot as our research subject for this study. First, we applied D-H coordinate transformation of the robot to establish a link system, and we then used inverse transformation to solve the robot's inverse kinematics and find all the joints. Use Lagrange method to analysis UR robot dynamics; use ADAMS multibody dynamics simulation software to dynamic simulation; verifying the correctness of the derived kinetic models.
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CITATION STYLE
Guoqing, M. A., Li, L. I. U., Zhenglin, Y. U., Guohua, C. A. O., & Yanbin, Z. (2017). Movement Characteristics Analysis and Dynamic Simulation of Collaborative Measuring Robot. In IOP Conference Series: Materials Science and Engineering (Vol. 187). Institute of Physics Publishing. https://doi.org/10.1088/1757-899X/187/1/012043
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