Abstract:Simulation analysis method is introduced in MATLAB based on revolute robot. Taken the ER3A-C60 robot as an example, the problems of forward kinematics, inverse kinematics and trajectory planning were analyzed. After the kinematic model established with the Robotics toolbox and D-H parameter method, the simulation of trajectory planning of the robot was conducted. The relation curves that angular displacement, angular velocity and angular acceleratio vary with time were obtained, which verify the rationality of the robot's parameters.