摘要
本文以实例论述了工业机器人坐标变换的数学解,介绍了机器人空间方向坐标的转角定义方法,阐述了坐标变换中实用的矢量法,并指出程序编制中应注意的若干问题。
This paper deals with the mathematical solutions of the coordinate transformation of the industrial robot by means of an example, that introduces a way to define the direction Coordinate of a robot, describes a vector method which is concise and practical in the coordinate transformation, and finallypoints out, that attention should be paid to some questions in programming.
关键词
工业机器人
坐标变换
矢量法
robot
coordinate transformation
vector method
