| 基于Matlab的七自由度机械手逆运动学分析及仿真 |
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| 引用本文： | 宁祎. 基于Matlab的七自由度机械手逆运动学分析及仿真[J]. 科学技术与工程, 2012, 12(7): 1522-1525 |
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| 作者姓名： | 宁祎 |
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| 作者单位： | 河南工业大学机器人研究所,郑州,450007 |
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| 摘 要： | 首先使用Denavit-Hartenberg法对机械手进行建摸并对其运动学数值进行计算。然后用Robotics Toolbox机器人工具箱编写该机械手的逆运动学程序。通过仿真，得到了各个关节时间与运动的关系图和运动轨迹图，实现了预定目标，验证了设计参数的正确性和可行性。
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| 关 键 词： | 七自由度机械手、轨迹规划、逆运动学 |
| 收稿时间： | 2011-11-24 |
| 修稿时间： | 2011-12-20 |
Inverse Kinematics Analysis and Simulation of Seven Degrees of Freedom Robotic Hand on Matlab |
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| ningyi. Inverse Kinematics Analysis and Simulation of Seven Degrees of Freedom Robotic Hand on Matlab[J]. Science Technology and Engineering, 2012, 12(7): 1522-1525 |
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| Authors: | ningyi |
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| Affiliation: | (School of Electronics and Electrical Eng,Henan University of Technology,Zhengzhou 450007,P.R.China) |
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| Abstract: | Analysis of kinematics and building the mould on a seven degrees of freedom(DOF) robotic hand by the D-H method.Then the Robotics Toolbox is used to program on inverse kinematics.Through the simulation,the drawing joint motion-time relation and trajectory of the robot are got,and the result is match with the scheduled target.It verifies the step of motion rate control method is correct and feasible. |
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| Keywords: | 7-DOF robotics hand simulation inverse kinematics Robotics Toolbox |
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