摘要
Kuka youbot机械臂广泛地运用于教学和科研,且在工业自动化均有广泛应用。以Kuka-youbot机械臂为研究对象,首先,建立运动学(D-H法)模型;其次,对机械臂的正向、逆向运动学进行代数求解;最后,运用Matlab软件对机械臂末端可达空间进行仿真,为机械臂轨迹规划等问题建立基础。
Kuka youbot mechanical arm is widely applied in teaching and scientific research, and it is widely used in industrial automation. In this paper, first of all, to set up the kinematics model （D-H method）; secondly, the forward and inverse kinematics of robotic arm algebraic solution ; finally, using the Matlab software to simulation the mechanical arm end to space, to build foundation for manipulator trajectory planning problems and so on.
出处
《机电工程技术》
2014年第4期18-21,共4页
Mechanical & Electrical Engineering Technology
