otio
’spath
I
additio
agoodi
terfaceofhuma
computeri
teractio
wase
ha
cedi
theremoteco
trolsystemofthema
ipulatori
PCMoreoverthema
ipulatorsimulatio
tech
ologywasbuiltbyusi
gthemixedprogrammi
gofVCa
dMATLABThusthemotio
choreographswasgotquicklya
deasilyalsogreatlysavedtimea
dcutthecost
2Ma
ipulatorModela
dPathPla
i
g
Atfirstthemotio
modelofthema
ipulatorwasbuiltThe
theki
ematicsimulatio
a
ditspathpla
i
gwereresearchedTheseworksprovidedthefou
datio
forthedesig
oftheremoteco
trolsystemofthema
ipulator
21Motio
ModeloftheMa
ipulator
Thema
ipulatorwasregardedasa
ope
loopki
ematicchai
Itwasco
stitutedbyfiverotaryjoi
tsA
ditso
ee
dwasfixedo
abasewhiletheothere
dwasusedtoachievetheabilityofgrabbi
gThereforeitisbettertoestablishachai
coordi
ateframeasshow
i
Fig1Thetermi
alpositio
a
dattitudewasdetermi
edviausi
gforwardki
ematicequatio
afterk
owi
gtherotati
ga
gleofeveryjoi
tTheDHparametertableshow
asTable1wasestablishedbyusi
gtheframesi
Fig1
Fig1Coordi
ateframesofmecha
icalarm
Table1DHParametersoftheRobotArm
f
DuetoDHmethod
TA
1
1
Cθ
1Sθ
1Sθ
1Ca
Cθ
1Ca
0a
Sa
Sa
d
1Sθ
1Sa
Cθ
1Sa
00Ca
Ca
d
101
WhereCθ
1cosθ
1Sθ
1si
θ
1Ca
cosa
Sa
si
a
Thetra
sformatio
matrixofeveryjoi
twasgive
byequatio
2
T10cosθ1si
θ1si
θ1cosθ100000000
1001T21cosθ2si
θ200001d1si
θ2cosθ2000001T32cosθ3si
θ3si
θ3cosθ300000
00
01d201T43cosθ4si
θ400001d3si
θ4cosθ4000001T54cosθ5si
θ5si
θ5cosθ500000000
1d401T50
x
x
y
y
x
x
y
y
z
z00
z
z01T10T21T32T43T542Whereu
itvector
→o→a→i
equatio
2was
→
ormal
→orie
tatio

→approac
→positio
Parametersofmecha
icalarmweregive
byd185mmd2116mmd385mmd495mmThereforetheforwardki
ematicequatio
wasdetermi
edbytaki
geveryparameteri
equatio
3
P50180Cθ1Sθ2θ3116Cθ1Sθ2180Sθ1Sθ2θ3116Cθ1Sθ285116Cθ2180Cθ2θ3
3
I
practicalapplicatio
thema
ipulatorwasadoptedtograbobjectsThisrequiredthatthefixedpositio
wasgive
fromtermi
altotargetlocatio
Thatwasthei
verse
ki
ematica
alysisofma
ipulatorI
versetra
sformatio
wasusedtodetermi
ea
gleof
feveryrotaryjoi
ttowardtheestablishedcoordi
atesA
dtheusedmethodofi
versetra
sformatio
wasthecommo
methodtosolvesuchproblemthismethodalsok
ow
as
algebraicmethodUsi
gi
versetra
sformatio
T
11separatelytotheleftmultiplicatio
withT50T10T21T32T43T54thea
gleofeveryrotaryjoi
tθ1θ2θ3θ4θ5wasdetermi
edOwi
gtotheserer