摘要
以六自由度机器人手臂理论为基础,分析了一种五自由度机器人手臂在笛卡尔坐标系下臂形与自由度的关系,通过机器人手臂逆解算法,结合空间几何理论,得出了五自由度机器人手臂在笛卡尔坐标系下缺失自由度与关节坐标的关系,建立Matlab仿真环境,验证了结论的正确性。
Based on the theory of six-degree freedom robot arm, through the inverse kinematics and the space geometry theory,the relationship between the arm forms and the freedom of a manipulator with five-degree freedom was analysed. Get the conclusion that when the orientation of this kind arm is specified, the arm can not move along a straight line. With the help of the model constructed in Matlab, validate the correctness of our conclusion.
出处
《煤矿机械》
北大核心
2009年第9期113-114,共2页
Coal Mine Machinery
基金
安徽高校省级自然科学研究项目(KJ2009B095Z)
关键词
笛卡尔空间
关节空间
自由度
逆解
cartesian coordinate space
joint space
robot freedom
inverse kinematics
