FS03N通用机器人运动学分析与仿真

Kinematics Analysis and Simulation of FS03N General Robot

以FS03N通用机器人为研究对象,根据FS03N的结构特点,采用D-H法建立了机器人连杆坐标系,列出连杆参数,计算得出了以关节角度为变量的正运动学方程。通过选用z-y-z欧拉角来描述川崎FS03N通用机器人末端的方位。在机器人运动学反解问题上,采用了反变换法来求解。最后,使用SolidWorks软件建立了FS03N的三维实体模型,用motion对其进行仿真,验证位置正反解的正确性。

Taking FS03 N general-purpose robot as the research object,according to the structure characteristics of FS03 N,the coordinate system of the robot connecting rod is established by D-H method,the parameters of the connecting rod are listed,and the forward kinematics equation with joint angle as variable is calculated.The end orientation of Kawasaki FS03 N general-purpose robot is described by z-y-z Euler angle.On the inverse kinematics solution of the robot,the inverse kinematics is adopted.Finally,a three-dimensional solid model of FS03 N is built in SolidWorks software,and the positional forward and inverse solutions are verified by motion simulation.