Download - Kinematics of Mitsub i shi RV- 6S/6SC Robot
![Page 1: Kinematics of Mitsub i shi RV- 6S/6SC Robot](https://reader033.vdocuments.net/reader033/viewer/2022061612/56815a81550346895dc7ec81/html5/thumbnails/1.jpg)
Kinematics of Kinematics of MitsubMitsubiishi shi RV-RV-6S/6SC Robot6S/6SC Robot
![Page 2: Kinematics of Mitsub i shi RV- 6S/6SC Robot](https://reader033.vdocuments.net/reader033/viewer/2022061612/56815a81550346895dc7ec81/html5/thumbnails/2.jpg)
Kinematic model of Mitsubishi RV-6S/6SC (Denavit-Hartenberg convention)
R. S. Hartenberg and J. Denavit, “A kinematic notation for lower pair mechanisms based on matrices,” Journal of Applied Mechanics, vol. 77, pp. 215–221, June 1955.
Transformation in a joint is described by 4 parameters
![Page 3: Kinematics of Mitsub i shi RV- 6S/6SC Robot](https://reader033.vdocuments.net/reader033/viewer/2022061612/56815a81550346895dc7ec81/html5/thumbnails/3.jpg)
Kinematic model of Mitsubishi RV-6S/6SC (Denavit-Hartenberg convention)
R. S. Hartenberg and J. Denavit, “A kinematic notation for lower pair mechanisms based on matrices,” Journal of Applied Mechanics, vol. 77, pp. 215–221, June 1955.
Transformation in a joint is described by 4 parameters
![Page 4: Kinematics of Mitsub i shi RV- 6S/6SC Robot](https://reader033.vdocuments.net/reader033/viewer/2022061612/56815a81550346895dc7ec81/html5/thumbnails/4.jpg)
Kinematic model of Mitsubishi RV-6S/6SC (Denavit-Hartenberg convention)
R. S. Hartenberg and J. Denavit, “A kinematic notation for lower pair mechanisms based on matrices,” Journal of Applied Mechanics, vol. 77, pp. 215–221, June 1955.
Transformation in a joint is described by 4 parameters
![Page 5: Kinematics of Mitsub i shi RV- 6S/6SC Robot](https://reader033.vdocuments.net/reader033/viewer/2022061612/56815a81550346895dc7ec81/html5/thumbnails/5.jpg)
Kinematic model of Mitsubishi RV-6S/6SC (Denavit-Hartenberg convention)
R. S. Hartenberg and J. Denavit, “A kinematic notation for lower pair mechanisms based on matrices,” Journal of Applied Mechanics, vol. 77, pp. 215–221, June 1955.
Transformation in a joint is described by 4 parameters
![Page 6: Kinematics of Mitsub i shi RV- 6S/6SC Robot](https://reader033.vdocuments.net/reader033/viewer/2022061612/56815a81550346895dc7ec81/html5/thumbnails/6.jpg)
Kinematic model of Mitsubishi RV-6S/6SC (Denavit-Hartenberg convention)
R. S. Hartenberg and J. Denavit, “A kinematic notation for lower pair mechanisms based on matrices,” Journal of Applied Mechanics, vol. 77, pp. 215–221, June 1955.
Transformation in a joint is described by 4 parameters
![Page 7: Kinematics of Mitsub i shi RV- 6S/6SC Robot](https://reader033.vdocuments.net/reader033/viewer/2022061612/56815a81550346895dc7ec81/html5/thumbnails/7.jpg)
![Page 8: Kinematics of Mitsub i shi RV- 6S/6SC Robot](https://reader033.vdocuments.net/reader033/viewer/2022061612/56815a81550346895dc7ec81/html5/thumbnails/8.jpg)
RV-6S/6SC
![Page 9: Kinematics of Mitsub i shi RV- 6S/6SC Robot](https://reader033.vdocuments.net/reader033/viewer/2022061612/56815a81550346895dc7ec81/html5/thumbnails/9.jpg)
![Page 10: Kinematics of Mitsub i shi RV- 6S/6SC Robot](https://reader033.vdocuments.net/reader033/viewer/2022061612/56815a81550346895dc7ec81/html5/thumbnails/10.jpg)
![Page 11: Kinematics of Mitsub i shi RV- 6S/6SC Robot](https://reader033.vdocuments.net/reader033/viewer/2022061612/56815a81550346895dc7ec81/html5/thumbnails/11.jpg)
![Page 12: Kinematics of Mitsub i shi RV- 6S/6SC Robot](https://reader033.vdocuments.net/reader033/viewer/2022061612/56815a81550346895dc7ec81/html5/thumbnails/12.jpg)
![Page 13: Kinematics of Mitsub i shi RV- 6S/6SC Robot](https://reader033.vdocuments.net/reader033/viewer/2022061612/56815a81550346895dc7ec81/html5/thumbnails/13.jpg)
![Page 14: Kinematics of Mitsub i shi RV- 6S/6SC Robot](https://reader033.vdocuments.net/reader033/viewer/2022061612/56815a81550346895dc7ec81/html5/thumbnails/14.jpg)
![Page 15: Kinematics of Mitsub i shi RV- 6S/6SC Robot](https://reader033.vdocuments.net/reader033/viewer/2022061612/56815a81550346895dc7ec81/html5/thumbnails/15.jpg)
![Page 16: Kinematics of Mitsub i shi RV- 6S/6SC Robot](https://reader033.vdocuments.net/reader033/viewer/2022061612/56815a81550346895dc7ec81/html5/thumbnails/16.jpg)
MATLAB simulation in ROBOT toolbox:
mRV6S = RV-6S (6 axis, RRRRRR) [Mitsubishi] <home = [0.000000 -1.047198 -0.523599 0.000000 0.785398 0.000000]>
grav = [0.00 0.00 9.81] alpha_i a_i theta_i d_i R/P standard D&H parameters-1.570796 85.000 parameter 350.000 R (std) 0.000000 280.000 parameter 0.000 R (std)-1.570796 100.000 parameter 0.000 R (std) 1.570796 0.000 parameter 315.000 R (std)-1.570796 0.000 parameter 0.000 R (std) 0.000000 0.000 parameter 85.000 R (std)