Kinematics simulation of MOTOMAN robot based on ADAMS

What is called analysis for kinematics of robot refers to the analysis for pose、speed and acceleration of robot's end manipulator.In this paper,the manipulator of MOTOMAN UP6 is firstly considered as object,then setting up its pose equation based on the means of D-H,simulating its kinematics by software of Adams,we can obtained the real time results of pose、speed and acceleration of robot in different condition.Therefore,it makes active sense in performance of movement of joint robot.