摘要
协作机器人由于具备安全性高、成本低、部署快等优点,成为机器人市场中的重要增长动力。首先介绍了协作机器人结构设计要求以及D-H方法原理,然后详细介绍了这一结构类型机器人正逆运动学求解思路,最后利用MATLAB进行了机器人运动学正逆解正确性验证,证明了解法的正确性。
Because of its advantages of high security,low cost and fast deployment,cobot are becoming an important growth driver in robot market.At the beginning of this paper,the design requirements,the structure theory of cobot and the principle of D-H method were introduced,and the solution thoughts of forward and inverse kinematics of the robot were described in detail.Finally,MATLAB is used to verify the correctness of the robot kinematics forward and inverse solutions,and the correctness of the understanding method is proved.
作者
李秀刚
LI Xiu-gang(School of Mechanical Engineering,Southwest Jiaotong University,Chengdu 610031,China)
出处
《机械工程与自动化》
2020年第3期61-63,共3页
Mechanical Engineering & Automation
