Kinematic Analysis of xMate ER7 Pro Robotic Arm Based on MATLAB
DOI:
https://doi.org/10.6911/WSRJ.202504_11(4).0019Keywords:
Redundant manipulator; kinematics; MATLAB.Abstract
For the xMate ER7 Pro robot with seven degrees of freedom redundant manipulator of ROKAE, the standard D-H method is used to establish its link coordinate system and derive the forward and inverse kinematic equations. Based on the Robotics Toolbox toolbox in the MATLAB platform, the robot model is built in a simulation environment, and the forward and inverse kinematic equations are simulated and calculated respectively. The correctness of the kinematic equations is verified to achieve smooth movement of the manipulator.
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