摘要
研制了一种工业机械臂系统。该机械臂采用六自由度串联式结构,末端可安装不同的工具;使用工业平板配合多轴运动控制器进行电机伺服控制;利用D-H法建立机械臂运动学的数学模型,并通过MATLAB仿真验证了正逆解公式推导的正确性。
In this paper,a kind of industrial robot system is designed,which adopts serial 6-DOF structure and can connect different tools at the extreme point.The control system based on industrial panel PC and multi-axis controller can command the servo motor.The D-H method is used to build the kinematics model of the arm,and at last the correctness of forward-inverse solution is verified by MATLAB simulation.
出处
《机械工程与自动化》
2016年第6期26-28,共3页
Mechanical Engineering & Automation
基金
国家973计划资助项目(2012GB102006)
