Education, Science, Technology, Innovation and Life
Open Access
Sign In

Multi-degree-of-freedom robot arm motion simulation based on MATLAB

Download as PDF

DOI: 10.23977/jemm.2021.060107 | Downloads: 16 | Views: 209


Bin Guo 1


1 School of Electrical and Computer Engineering, Nanfang College of Sun Yat-sen University, Guangdong, 202104, China

Corresponding Author

Bin Guo


The design is divided into three main parts. The first part is an analysis of the basis robotic arm components and principles to understand how the robotic arm is precisely and automatically controlled to achieve the desired task. The kinematic basis of the robotic arm is then investigated by establishing a co-ordinate system for the arm based on the modified D-H method. A preliminary kinematic model of the 6 degree of freedom robotic arm is established through a structural study of ABB's multi-degree-of-freedom robot. The basic parameters of the robotic arm are brought into the equation to obtain its equations of motion, and then a simulation study is carried out using MATLB to find the forward and inverse solutions, and the results are compared with the previous study to verify their reasonableness. The second part is based on the description and analysis of the work space in the first part, and the methods for solving the work space are investigated. These methods are also compared to analyse and understand their applicability and reasonableness. Finally, the path description and generation of the robotic arm is studied to complete the planning of the robotic arm trajectory and the results of the simulation are analysed. The study of the 6-degree-of-freedom robot arm is used to improve the theoretical basis of the robot. The study of the 6-degree-of-freedom robotic arm provides a deeper understanding of the structural parameters of the robot arm and adds to the missing knowledge for the next study of intelligent robotics, as well as to the research and application of the robotic arm or to further research based on it.


The Multi-degree-of-freedom robotic arm, Kinematic analysis, Work space and trajectory planning, MATLAB


Bin Guo. Multi-degree-of-freedom robot arm motion simulation based on MATLAB. Journal of Engineering Mechanics and Machinery (2021) Vol. 6: 42-69. DOI:


[1] Wang Daina. A study of robot subjectivity(Ji Qi Ren Zhu Ti Xing Wen Ti Yan Jiu)[D]. Chengdu: Chengdu University of Technology, 2018. 
[2] Chen Jun. Research on real-time simulation system for multi-degree-of-freedom robotic arm(Duo Zi You Du Ji Xie Bi Shi Shi Fang Zhen Xi Tong Yan Jiu)[D]. Harbin: Harbin Engineering University, 2012.
[3] Edelman, B. J., Meng, J., Suma, D., Zurn, C., Nagarajan, E., Baxter, B. S., Cline, C. C., & He, B. (2019). Noninvasive neuroimaging enhances continuous neural tracking for robotic device control. Science Robotics, 4(31), eaaw6844.
[4] Xu Kou. Inverse kinematic solution and trajectory planning of a six-degree-of-freedom robotic arm(Liu Zi You Du Ji Xie Bi De Ni Yun Dong Xue Qiu Jie Yu Gui Ji Gui Hua Yan Jiu)[D]. Guangzhou: Guangdong University of Technology, 2016.
[5] Ma Yuhao. Six-degree-of-freedom robotic arm obstacle avoidance trajectory planning and control algorithm research(Liu Zi You Du Ji Xie Bi Bi Zhang Gui Ji Ji Kong Zhi Suan Fa Yan Jiu)[D]. University of Chinese Academy of Sciences, 2019.
[6] Zuo Fuyong, Hu Xiaoping, Xie Ke, et al. SCARA robot trajectory planning and simulation based on MATLAB Robotics toolbox(Ji Yu MATLAB Robotics Gong Ju Xiang De SCARA Ji Qi Ren Gui Ji Gui Hua Yu Fang Zhen)[J]. Haapasalo, Xiang Tan: Journal of Hunan University of Science and Technology, 2012(2):43-46.
[7] Lee, C. s. g., & Ziegler, M. (1984). Geometric approach in solving inverse kinematics of PUMA robots. IEEE Transactions on Aerospace and Electronic Systems, AES-20(6), 695–706.
[8] Wang Yongjie. Optimisation of structural parameters for multi-degree-of-freedom robotic arms(Duo Zi You Du Ji Xie Bi Jie Kou Can Shu You Hua)[D]. Beijing Institute of Technology, 2016.
[9] Denavit, J. and Hartenberg, R.S. (1955) A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices. ASME Journal of Applied Mechanics, 77, 215-221.
[10] Li Baofeng, Sun Hanxu, Jia Qingxuan, et al. Space robot workspace calculation based on Monte Carlo method(Ji Yu Meng Te Ka Luo Fa De Kong Jian Ji Qi Ren Gong Zuo Kong Jian Ji Suan)[J]. Journal of Spacecraft Engineering, 2012,20(4):79-85.
[11] Roth B. Performance Evaluation of Manipulators from a Kinematic Viewpoint[J]. National Bureau of Standards Workshop on Performance Evaluation of Manipulators, 1975.
[12] Cao Yi, Wang Shuxin, Qiu Yan, et al. Design of a microsurgical robot for flexible work spaces(Mian Xiang Ling Huo Gong Kong Jian De Xian Wei Wai Ke Shou Shu Ji Qi Ren She Ji)[J]. Robotics journals, 2005,27(3):220-225.
[13] Abdel-Malek, K., & Yeh, H.-J. (1997). Analytical boundary of the workspace for general3-dof mechanisms. The International Journal of Robotics Research, 16(2), 198–213.
[14] Chen Zhangping, Diao Yan, Yao Lin, et al. Minimally invasive surgical robot workspace analysis(Wei Chuang Shou Shu Ji Qi Ren Gong Zuo Kong Jian Fen Xi)[J]. Journal of Mechanical Science and Technology, 2010,27(10):70-72.
[15] Jouybari, B. R., Osgouie, K. G., & Meghdari, A. (2014). Optimization of kinematic redundancy and workspace analysis of a dual-arm cam-lock robot. Robotica, 34(1), 23–42.
[16] Zhou Aiguo, Zhou Fei, Nv Gang, et al. Kinematics and workspace analysis of an articulated arm CMMJ(Guan Jie Bi Shi Zuo Biao Ce Liang Ji De Yun Dong Xue Yu Gong Zuo Kong Jian Fen Xi)[J]. Journal of Mechanical Drives, 2019.10.
[17] Craig, J. J. (2017). Introduction to robotics: Mechanics and control. Prentice Hall.
[18] Yang Zhongrui. Kinematics and trajectory planning research for industrial robots(Gong Ye Ji Qi Ren De Yun Dong Xue Yu Gui Ji Gui Hua Yan Jiu)[D]. Chengdu: Xihua University, 2020.
[19] Yang Yijun, Chen Xunbing. Kinematic analysis of a general-purpose six-degree-of-freedom industrial robot(Tong Yong Xing Liu Zi You Du Gong Ye Ji Qi Ren De Yun Dong Xue Fen Xi)[D]. Guangzhou: Guangdong University of  Technology, 2017.
[20] Tian Guofu, Jiang Chunxu. Kinematic analysis of industrial robots in MATLAB Robotics(Gong Ye Ji Qi Ren Zai MATLAB Robotics Zhong De Yun Dong Xue Fen Xi)[D]. Heavy Machinery Journal, 2019.
[21] Li Wei. Six degree of freedom articulated robot control system development(Liu Zi You Du Guan Jie Shi Ji Qi Ren Kong Zhi Xi Tong Kai Fa)[D]. Shanghai: East China University of Science and Technology, 2014.

Downloads: 1304
Visits: 70146

All published work is licensed under a Creative Commons Attribution 4.0 International License.

Copyright © 2016 - 2031 Clausius Scientific Press Inc. All Rights Reserved.