华数JR603型机器人正逆运动学仿真分析

Simulation Analysis of Forward and Inverse Kinematics of Huashu JR603 Robot

以华数JR603型机器人为研究对象,从分析刚体在空间的位置和姿态入手,配置机器人坐标系,采用齐次坐标变换D-H参数法,构建了正逆运动学数学模型,运用机器人工具箱建立了机器人三维仿真模型,并进行了正逆运动学仿真分析。仿真结果表明关节变量和假设关节变量相同,证明了正逆运动学求解方法的正确性和合理性,为机器人后期的使用和开展科学研究提供一种有用的分析手段和理论支持。

This paper takes the Huashu JR603 robot as the research object.Starting from analyzing the position and posture of the rigid body in space,configuring the robot coordinate system,and using the D-H parameter method based on homogeneous coordinate transformation,constructing a forward and inverse kinematics mathematical model,using the robot toolbox to establish a three-dimensional simulation model of the robot,and conducting forward and inverse kinematic simulation analysis.The simulation results show that the joint variables are the same as the assumed joint variables,which proves the correctness and rationality of the forward and inverse kinematics solution method.This provides a useful analytical tool and theoretical support for the later use and scientific research of robots.