摘要
运用齐次变换矩阵等数学方法,对JJR—1型机器人运动学进行了分析。建立了各关节间的位置关系、速度关系和加速度关系及其求解方法,为今后的动力学研究及控制奠定了基础。
This paper analyses the kinematics of JJR—1 type robot, using the method of homogeneous coordinate transformation. The relationshipsin position, velocity and accelevation among joints of the JJR—1 type robot are formulated, and the method of analysis are established. And all this establish the basis for future kinematics and control study.
关键词
机器人
运动学
齐次变换矩阵
robots
kinematies
homogeneous coordinate transforrnation
