摘要
以IRB1410型工业机器人结构参数与D-H理论为基础推导机器人的运动学方程;在MatlabRoboticsToolbox环境下结合机器人连杆参数进行机器人的建模,验证运动学模型是否正确;对该机器人进行运动学仿真分析,为机器人动力学、控制及轨迹规划研究提供可靠的理论基础。
Based on the structural parameters of IRB1410 industrial robot and the theory of D-H, the kinematics equation is deduced. The link parameters of the robot are used to establish model in Matlab Robotics Toolbox. Correctness of the kinematics model is validated. Kinematics simulation and analysis of the robot are carried out. The result provides the theory foundation for the dynamics, control and trajectory planning research of robot.
出处
《机械工程师》
2017年第1期24-27,共4页
Mechanical Engineer
