Research on Modeling and Simulation of Six-axis Manipulator Based on D-H Coordinates

This paper studies an autonomously modeled six-axis robotic arm, uses the traditional D-H modeling method to construct the robot joint coordinates, and analyzes and derives the forward and inverse kinematics equations. The trajectory function was determined by the Lagrange interpolation method, and based on the MATLAB platform and Robotics Tooxlbox robot toolbox, the six-axis robot arm was successfully implemented to perform "Z"-shaped route and "8"-shaped operations. The results show that this six-axis manipulator can move smoothly from the initial posture to the final posture, and the established kinematics model can be used as a theoretical support for subsequent research.