摘要
研究和操作机器人的第一步,是描述机器人各关节之间以及它们和工具或工件之间的相对运动关系。因此,首先要建立各关节之间的相互关系,即要建立坐标系。理解和掌握各个坐标系的意义及使用方法,巧妙运用这些坐标系,可以给操作和编程带来极大的方便。总结了关节机器人各坐标系的意义和作用,以及示教编程时如何应用坐标系简化编程操作过程。
The first step of research and operation of the robot is to describe the relative motion relationship between the joint of the robot as well as their tool or workpiece. Therefore,we must first establish the relationship between the joint,that is,to establish a coordinate system. Understanding and grasping the significance of each coordinate systems and how to use these coordinates cleverly,can bring great convenience to the operation and programming. This article has summarized the significance and role of joint robot coordinate systems,and how to use the coordinate system to simplify the process of teaching programming and operation.
出处
《装备制造技术》
2015年第11期93-96,共4页
Equipment Manufacturing Technology
关键词
工业机器人
坐标系
位姿
industrial robot
coordinate system
pose
