七自由度浮渣铲除机器人的运动学正逆解研究

The Research on Positive and Athwart Solution about Kinematics of Seven FreedomDegrees Scruff Elimination Robot

用D-H方法在运动学分析过程中,求解本来没有唯一解的具有七个自由度的机器人系统的运动学方程,并加以验证运动学方程的正确性。总结出在运动方程正解求解过程中,坐标设置时应注意的问题及运动学方程求逆解的方法。

This article uses the D-H method to solve the kinematics equation that have seven freedom degrees but originally have no unique solution robot systems. And verify the accuracy of the kinematics equation. Summarize the necessary attentive problems in setting coordinate and the method of athwart solution in kinematics equation in the process that solve kinematics equation positive solution.