五自由度教学机器人的运动学分析 |
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引用本文: | 程远.五自由度教学机器人的运动学分析[J].无锡职业技术学院学报,2009,8(4):41-43. |
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作者姓名: | 程远 |
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作者单位: | 无锡职业技术学院机电技术学院,江苏,无锡,214121 |
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摘 要: | 该文对五自由度教学机器人进行运动学分析,为仿真和控制软件做准备。该文用D-H法来推导运动学方程,包括正解和逆解,实现机器人任意位置和姿态的计算。
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关 键 词: | 机器人 运动学分析 正解 逆解 |
Kinematics Analysis of the Teaching Robot of Five Freedom Degree |
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Authors: | CHENG Yuan |
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Institution: | CHENG Yuan ( Wuxi Institute of Technology, Wuxi 214121, China) |
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Abstract: | The disquisition conducted the kinematics analysis of the teaching robot of five freedom degree, preparing for kinematics simulation and control software. It used D-H method to deduce the kinematics equation direct solution and inverse solution so that to achieve ?he result of the robot's any position and posture. |
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Keywords: | robot kinematics analysis direct solution inverse solution |
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