Modeling and Simulation of Robotic Arm in MATLAB for Industrial Applications

With the increasing use of robots in modern industrial production, it is of great significance to study the robotic arm as a main tool in this field. This paper mainly investigates the modeling and simulation of a robotic arm for polishing applications. Kinematics and dynamics model of the multiple degrees of freedom robot based on MATLAB and Robotics toolbox platform are established. According to the standard D-H modeling method, the forward kinematics of the multiple degrees of freedom manipulator is analyzed, and the joint angle is obtained by using the inverse kinematics and then the dynamics solution of the manipulator is derived. Simulation trials and results are presented and discussed. This work provides a potential basis for the realization of robotic grinding and polishing in industrial field, which is of great significance for improving manufacturing efficiency, ensuring product quality and reducing labor intensity of workers.