Forward and Inverse Solution Analysis of Kinematics Position about Palletizing Mechanical Arm

Accurate forward and inverse solution analysis of kinematics position is foundation of trajectory planning，motion control and dynamic analysis for mechanical arm.Taking a certain type of palletizing robot arm as research object，D-H method and analytic method were used to make forward and inverse solution analysis of its position.Analysis results of two methods were consistent，which verified reliability of analysis methods and results to some extent，and also laid a foundation for further research.