摘要
运用改进的D-H法求解了三个腕关节轴线相交于一点的6自由度喷涂机器人的运动学方程,得出了简化的运动学逆解的代数解。在Matlab环境中,用Robotics Toolbox对该机器人进行了仿真建模,不仅证明运动学正、逆解的正确性,还得出了机器人的工作空间,也为后续的动力学分析、轨迹控制奠定了基础。
Using Modified D-H Method to analysis the kinematics equation of Six DOF painting robot whose wrist axes intersect at one point and discussing the problem of the kinematics. The robot model and the forward, inverse kinematics were simulated with Robotics Toolbox of Matlab. The simulation not only proved the correctness of forward, inverse kinematics algorithm and the workplace of robot but also built the foundation for robot dynamics and trajectory control.
出处
《机电产品开发与创新》
2008年第5期4-5,18,共3页
Development & Innovation of Machinery & Electrical Products
基金
广东省科技厅支持项目(20054982304)
