A kinematics promble of a 6-DOF bomb-disposing manipulator was discussed in this paper.The kinematics algorithm model and target matrix were established by D-H coordinate exchange.And then obverse and inverse kinamatics calculates were obtained by MATLAB depending on its excellent capability for symbolic math prombles . The trajectory of manipulator arms could be obtained by the result of obverse kinamatics when manipulator worked,and also torsional angles could be obtained by the result of inverse kinamatics when manipulator arrivalled certain pose. Parameters were provided by kinematics analysis for automatic controlling manipulator.

一种六自由度机械手的运动学分析.pdf

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