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Published in:
2018 | OriginalPaper | Chapter
Kinematic Model Analysis of an 8-DOF Photographic Robot
Authors : Xiaowei Xie, Xingang Miao, Su Wang, Feng Zhang
Published in: Transactions on Intelligent Welding Manufacturing
Publisher: Springer Singapore
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Abstract
The photographic robot studied in this chapter is an 8-DOF PRRPR-S type. In order to obtain a stable and repeatable lens shooting trajectory, it is necessary to balance the robot’s own weight and structural rigidity. First, based on the structural analysis of the photographic robot, the main parameters of the mechanism design are extracted. Then, with the help of the photographic robot calibration, the kinematics model of the robot is established. The DH model is applied on the first seven axes of the photographic robot. The 6-parameter model is used on the end actuator attitude adjustment rotation axis. Finally, the motion of each axis is simulated in MATLAB, which verifies the kinematic model.