摘要
Pb - 2 11是一种用于喷漆、装配、绘画和教学研究的 6自由度液压机器人。本文为其建立了D -H坐标系 ,并对其进行了正向运动学分析 ,采用Ulrich二步迭代法和Paul变量分离法相结合的方法解决了逆运动学的问题 ,建立了典型关节型机器人的正、逆向运动学求解算法 ,这种方法可简化解析计算 ,加快迭代速度 ,同时求得的解具有实用性 ,可用于实时控制。仿真研究证实了以上结论。
A way was presented to analyze inverse kinematics of joint robot.Firstly D-H set of coordinates were established of a hydraulic driven robot with 6 DOF and it’s forward kinematics problems were solved.Then combining with iterated algorithm and separating variables algorithm,the inverse problems of the Pb-211 robot were solved.This method can reduce the computer’s workload,save time and educe useful joint variables and is proved to be efficacious with MATLAB.
出处
《机床与液压》
北大核心
2004年第11期70-72,76,共4页
Machine Tool & Hydraulics
