摘要
针对KUKA公司生产的KR150-2型六自由度机器人,借助UG软件对机器人进行三维实体建模.采用Denavit-Hartenberg坐标变换方法建立了机器人运动学模型,并利用Open Inventor和VisualC++6.0编写了运动学正解、逆解、轨迹规划的程序.最后实现了在Open Inventor环境下机器人的运动仿真.
A 3 - D entity model was built adopting UG software for KR150 -2 robot with six degree of freedom from KUKA of Germany. Denavit -Hartenberg coordinate transformation method was employed to set a robot kinematics model,and the positive solution, inverse solution, trajectory planning program for kinematics was compiled in Visual C＋＋6.0. Finally, robot motion simulation through which mathematical model and geometric model of robot are validated mutually is achieved in the Open Inventor environment.
出处
《机械与电子》
2010年第5期59-63,共5页
Machinery & Electronics
