摘要
以六自由度工业机器人为研究对象,利用D-H法对该机器人的运动学进行分析,并推导出运动学方程;运用拉格朗日建立出机器人动力学方程,并采用Matlab进行了运动学与动力学仿真,为后续六自由度工业机器人动态特性及控制研究打下基础。
The 6-DOF industrial robot was studied and D-H method was used to analyze the kinematical of robot and obtain the kinematical equation. Dynamic equation was established by using Lagrange. The simulation of kinematical and dynamic was built by Matlab software. The result of analysis lays a foundation for the research on dynamic characteristics of robots and their control methods.
出处
《装备制造技术》
2016年第8期36-40,共5页
Equipment Manufacturing Technology
