摘要
采用Denavit-Hartenberg方法建立连杆坐标系下的JJR-1型机器人运动学模型,并在M atlab中进行了运动学仿真,为机器人的动力学和控制提供了基础。
Introduces kinematics simulation for JJR-1 robot. Establishing the kinematics model under link-pole coordinate system with the method of Denavit-Hartenberg, and using the Matlab to simulate it. This method provides a basis for research on robot dynamics analysis and control.
出处
《现代制造工程》
CSCD
2006年第8期98-100,共3页
Modern Manufacturing Engineering
