The Analysis and Simulation of Robot Kinematics and Dynamics Based on RoboAnalyzer

Abstract—Robot kinematics and dynamics is the basis of robotics research, providing the important basis for robot path planning and motion control etc. The paper focuses on the six degrees of freedom industrial robot which is developed independently, adopts the D-H method to do the forward kinematics analysis and inverse kinematics analysis for robot, establishes the kinematics model, and uses Lagrange method for robots’ dynamics analysis, and then builds the relational model among mechanical arms and their force (or torque), at last, the paper uses the simulation software to illustrate the above to prove the correctness and rationality of the models.