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在Matlab环境下,采用D-H法对STAUBL TX90机器人建立了三维仿真模型。基于所建模型,对其进行正逆运动学问题进行了分析,并在关节空间坐标系下和笛卡尔空间坐标系下进行了简单的轨迹规划仿真。实验数据表明,该模型可以得到有效准确的运动轨迹和仿真数据,为深入研究轨迹规划的优化、轨迹跟踪提供了重要的数据分析基础。
In the Matlab environment, a 3D simulation model of STAUBL TX90 robot was established by D-H method. Based on the model, the kinematic problems of forward and inverse kinematics are analyzed, and a simple trajectory planning simulation is carried out under joint space coordinate system and Cartesian space coordinate system. Experimental data show that the model can obtain effective and accurate trajectories and simulation data, and provide important data analysis foundation for further study on trajectory planning optimization and trajectory tracking.