Workspace Analysis and Simulation of 6-DOF Manipulator Based on DH Parameter Method

Taking the 6-degree-of-freedom manipulator as the research object, the kinematics analysis and simulation verification are carried out under specific bar parameters. In order to calculate the working space and pose of the end effector, and the rotation angle of each joint of the end effector under the specified pose, this paper uses the DH parameter method to carry out forward kinematics analysis and inverse kinematics analysis [6]. In order to verify the correctness of the results, the simulation based on Matlab software is carried out, and the Monte Carlo method is used to simulate the working space to verify whether the whole manipulator meets the working requirements [2].