摘要
应用D-H(Denavit-Hartenberg)法建立了微小型救援机械手的D-H坐标系,应用Matlab/Robotics建立其三维仿真模型进行正运动学和逆运动学仿真。结果表明,运动过程中,微小型救援机械手的速度和加速度没有突变,能够准确、平稳地完成指定任务。
D-H coordinate system of a miniature rescue manipulator is established with D-H (Denavit- Hartenberg) method, and the 3D model of the manipulator is built in MATLAB/Robotics for both the forward and inverse kinematics simulation. The results show that no sharp changes in velocity and acceleration, so the manipulator can move and stop smoothly with high precision.
出处
《长春工业大学学报》
CAS
2015年第1期11-16,共6页
Journal of Changchun University of Technology
基金
吉林省教育厅"十二五"项目(2013153)
关键词
救援机械手
D-H法
运动学
rescue manipulator
D-H method
kinematics.