摘要
机器人运动学的分析是研究机器人控制的基础,能够保证机器人的控制化程度。以库卡机器人为例,建立D-H坐标系,对它进行运动学正反解,用MATLAB辅助计算。
Robot kinematics analysis is to study the basis of robot control, to ensure that the degree of control of the robot. A KUKA robot is taken as an example, a D-H coordinate system is established,kinematics is solved for it, and MATLAB simulation is used.
作者
马佰胜
金嘉琦
MA Bai-sheng, JIN Jia-qi(College of Mechanical Engineering. Shenyang University of Technology, Shengyang 110870. Chin)
出处
《煤矿机械》
北大核心
2018年第5期69-70,共2页
Coal Mine Machinery
关键词
机器人
运动学
正反解
robot
kinematics
forward and inverse solution
