Kinematics and workspace analysis of a robotic arm for medical delivery robots

For the control of robot arm a medical delivery robot, firstly, forward kinematic equations this 7-degree-of-freedom redundant are constructed according to modified D-H method. Secondly, analytical solution inverse kinematics robotic is solved using parameterised angle. Thirdly, simulation experiments were carried out by gazebo and RVIZ in ROS verify correctness process. Finally, Monte Carlo method was used generate point cloud map workspace within allowed range joints, boundary points extracted, extracted fitted with least squares curves find arm, which laid foundation for future research directions such as motion path planning robots.