摘要
本文结合KUKA IR 662/100型机器人,系统地分析了它的传动机构、平衡机构、工作空间;给出了用中间坐标系进行快速坐标变换的六自由度全转动机器人运动学,正、逆问题的解析解,利用L氏方程对前三个关节建立了动力学模型,提出了动力学模型的参数辨识方法,并给出了用系数参数表示的机器人逆动力学问题的快速算法,最后,对该机器人的动力学特性进行了实验验证。
This paper analyses the transmission mechanism, balance mechanism and work space of KUKA IR 662/100 Robot in a syst- ematic way. The author gives an analytic solution for kinematic positive and converse problem of the six-freedoms rotary robot in fast coordinate transformation with middle coordinate system, founds the dynamics model of the front three joints using Lagr- ange equation, suggests a method of the parameter identification of the dynamics model and gives the fast algorithm of the robot converse dynamics problem expressing with coefficient parameter. In the last, the author demonstrates the dynamics characteristic of this robot in experiment.
出处
《光学机械》
CSCD
1989年第2期56-58,共3页
