Kinematic Analysis and Simulation of Pipeline Cleaning Robot

In order to cope with the difficult problem of urban drain cleaning, the paper investigated the six-degree-of-freedom robot.Firstly, the standard D-H parameter method was used to model the robot and perform both forward and inverse kinematics analysis; then the robot simulation model was constructed by using Robotics Toolbox toolbox in MATLAB software; finally, the theoretical calculation and simulation were used to verify the conclusion of the forward and inverse solution, and the workspace of the robot was simulated based on the Monte Carlo method. The research content can provide a theoretical basis for the subsequent research on robot control algorithm and trajectory optimization.