摘要
为了满足喷涂要求,设定机器人空间坐标系,建立运动学方程,求出机器人运动学正解,然后利用反变换法求出机器人运动学反解,从而建立了关节转角和喷涂机器人手部姿态之间的关系。
In order to meet the spraying requirements, on the establishment of robot space coordinate system, the kinematic equations is established, and the robot forward kinematics is solved. Then by using anti-conversion law, the robot inverse kinematics is solved, and the joint comers and spraying robot hand gesture relationship is established.
出处
《装备制造技术》
2013年第3期27-30,共4页
Equipment Manufacturing Technology
关键词
喷涂
运动学正解
运动学反解
spraying
forward kinematics
inverse kinematics
