摘要
根据D-H坐标变换方法建立平面三自由度机械臂的齐次坐标变换矩阵,用代数方法建立逆运动学方程的数学模型;通过编程实现对数学模型的求解,获得机械臂各关节的数据。通过对求解的数据进行处理导入到Adams软件中建模仿真,仿真结果验证数学建模计算数据正确,方法可靠。
According to the D-H coordinate system transformation,the homogeneous coordinate transformation matrix of three-DOF planar manipulator,and the mathematical model of inverse kinematics equations are established by algebraic method.The mathematical model result is solved by programming to obtain each joint angle data,which is imported into Adams software for modeling and simulation.The mathematical model is verified to be accurate by the simulation result.
出处
《工具技术》
2011年第9期26-30,共5页
Tool Engineering
基金
常熟市科技计划资助项目(CG200902)
