# Mathematical Modeling and Workspace Analysis for Photographic Robot

• Xuedong Li
• Xingang Miao
• Su Wang
Conference paper
Part of the Transactions on Intelligent Welding Manufacturing book series (TRINWM)

## Abstract

The four-link manipulator can realize the characteristics of various motion trajectories to achieve multi-angle, precise positioning and high-quality shooting operations. A new method is proposed to determine the membership degree of the photographic robot workspace. In this paper, we use the DH digital modeling method to establish the positive kinematics model of the photographic robot and solve the kinematics positive solution of photographic robot. We also utilize the numerical analysis method to analyze the working space of the angle between the robot manipulator and guide rail, which will obtain the workspace, boundary point coordinates and geometry to measure and divide membership of a complex workspace into several simple working subspaces, and then get the decision conditions of the comprehensive workspace. Finally, the simulations are performed using MATLAB for verification. The working space of the photographic robot is determined, and the limit range of the robot operation is obtained.

## Keywords

Photographic robot DH modeling Work space analysis Determination of membership degree

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© Springer Nature Singapore Pte Ltd. 2019

## Authors and Affiliations

1. 1.Beijing Engineering Research Center of Monitoring for Construction Safety, Beijing Key Laboratory of Robot Bionics and Function ResearchBeijing University of Civil Engineering and ArchitectureBeijingChina