Kinematics Modeling and Simulation of a 4-DOF Manipulator

This manipulator is used for partial discharge (PD) detection of the High Voltage Switch Cabinet in substations. In order to realize the motion control of the manipulator, the kinematic model is bulit by Denavit-Hanenberg (DH) method. Based on this model, the forward kinematics and inverse kinematics solutions of the manipulator are obtained by geometric method. Then, we use the Matlab Robotic Toolbox to simulate the robotic arm and verify the correctness of the forward and inverse kinematics solutions. Finally, the manipulator simulation and control software is developed based on OpenGL and VS software, and this system obtains good results in the practice of substation operation.