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为便于对一种专用机器人的运动进行分析,本文将机器人的闭链结构化为完全的开链结构,采用旋转矩阵来表示末端操作器的姿态,并用D-H方法建立起连杆坐标系和机器人的运动学模型。利用这一模型,最终获得了机器人运动学的全部逆解。
In order to analyze the movement of a special robot, this paper constructs the closed-chain structure of the robot as a completely open-chain structure. The rotation matrix is used to represent the posture of the terminal manipulator. The DH coordinate system and the robot Kinematics model. Using this model, we eventually obtained all the inverse kinematics of the robot.