擦桌机器人的运动学分析与仿真

Simulation and Analysis on Wipe Table Robot Arm's Forward Kinematics

为了保证擦桌机器人工作的稳定性,以自行研制的擦桌机器人为研究对象。通过对擦桌机器臂的结构进行分析,运用D-H坐标表示法建立机械臂数学模型,应用MATLAB对该模型建立的机械臂正向运动学方程,仿真得到擦桌机械臂的工作空间,为后续研究擦桌机器人的动力学和控制提供理论基础。

In order to ensure the stability of wipe desk robot, table robot is developed as the research object. Through analyzing the structure of the robot arm, the mathematical model of mechanical arm is established by using the D-H coordinate representation. The forward kinematics equation of mechanical arm is built by MATLAB to simulate the manipulator workspace which is set up to provid for theoretical basis of robot control.