摘要
依据五自由度机器人手臂模型,用常规的D-H表示法建立了各连杆间关节坐标系,并写出了手臂末端执行器相对于基础坐标系空间描述的运动学方程,利用代数法依次求解出逆运动学方程,完成了对机器人手臂的运动学分析。
Based on the arm model of 5-Dof robot, a link between the joint coordinate system was established and the kinematics equation about the end of the arm relative to the actuator on the basis of space coordinates system was written using the conventional D-H representation. Then the inverse kinematics equation is solved using algebra and the kinematics analysis of robot arm is completed finally.
出处
《科学技术与工程》
2009年第6期1571-1573,1583,共4页
Science Technology and Engineering
