摘要
在国内的专业书籍中,对机器人运动学模型的论述仍以DH模型为主,而对MDH模型鲜有提及。文中详细介绍了DH和MDH模型,给出了MDH模型中参数的选取原则,最后通过实例进行了说明。对机器人运动学建模具有一定的参考价值,弥补了国内专业书籍论述中的不足。
DH and MDH models are widely adopted in robot kinematics.DH model is introduced in most domestic professional books,but MDH model is hardly mentioned.This paper introduced the DH and MDH models in detail,and gave the parameter selection principle of MDH model.Finally,the explanation is given by using a practical example.All of this has some reference value for robot kinematic modeling and make up the lack in those specialized books.
出处
《机械设计》
CSCD
北大核心
2011年第2期46-49,共4页
Journal of Machine Design
